Automatic sample dissolving treatment equipment and method and automatic sample treatment system

Abstract

The invention provides an automatic sample dissolving treatment device, an automatic sample dissolving treatment method and an automatic sample treatment system. The automatic dissolution processing equipment for the sample comprises a sample workbench; the processing module is arranged on the sample workbench and is used for dissolving the sample; the ground rail module is arranged on the sample workbench; and the robot is arranged on the ground rail module, and the robot can move along the ground rail module. The ground rail module is arranged on the sample workbench, the robot is arranged on the ground rail module, and the robot can move along the ground rail module, so that the whole process of sample dissolving treatment is automatic and unmanned, the working efficiency is improved, and the labor cost is reduced; through the arrangement of the ground rail module, the possibility of interference and collision between the manipulator and the processing module is reduced, then the degree of freedom of the arrangement position of the processing module is widened, and the material conveying efficiency can be further improved.

Description

Automated sample dissolution equipment and methods, automated sample processing systems 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 dissolution processing device, an automated sample dissolution processing method, and an automated sample processing system. Background Technology

[0002] In applications involving the extraction of traditional Chinese medicine and natural drugs, samples need to be re-dissolved after lyophilization for subsequent operations. Currently, this is often done manually by lab personnel adding liquid and then shaking the sample in a shaker, which consumes a significant amount of time and effort, resulting in high labor costs and low operational efficiency.

[0003] Additionally, some workstations are equipped with robotic arms for material handling. Typically, taller modules are positioned further away from the robotic arm to prevent interference and collisions. This limits module layout, unnecessarily increasing material handling distances and reducing efficiency.

[0004] In addition, some workstations operate sample dissolution and sample dilution independently, or use robotic arms for grasping and transferring, making it impossible to directly transform traditional Chinese medicine from solid samples into liquid samples of different concentrations. Summary of the Invention

[0005] To address the aforementioned technical issues, this disclosure provides an automated sample dissolution device, primarily applicable to sample dilution and resolution scenarios. The entire process is automated and unmanned, reducing labor costs.

[0006] This disclosure provides an automated sample dissolution processing device, comprising: a sample worktable; a processing module disposed on the sample worktable for dissolving the sample; a ground track module disposed on the sample worktable; and a robot disposed on the ground track module, wherein the robot is capable of moving along the ground track module.

[0007] In some embodiments, the automated sample dissolution processing equipment further includes at least one of the following modules: an exchange chamber for exchanging materials with an external source; a transfer storage location for temporarily storing materials in the automated sample dissolution processing equipment; a material handling tool for material handling via a detachable connection to a robot; and a material shelf for storing materials.

[0008] In some embodiments, the material handling equipment includes at least one of a test tube handling equipment, a tray handling equipment, and a concentration bottle handling equipment.

[0009] In some embodiments, the material rack includes a first material rack and a second material rack, the length of the first material rack being greater than the length of the second material rack, and the first material rack being able to be used to place material handling tools.

[0010] In some embodiments, the transit storage location is located adjacent to the exchange compartment.

[0011] In some embodiments, the exchange chamber is located at the edge of one side of the automated dissolution process for the sample.

[0012] In some embodiments, the processing module includes at least one of the following modules: a container opening / closing module for opening and closing the container lid; a liquid addition module for adding liquid; a liquid transfer module for transferring liquid; a centrifugation module for centrifuging liquid; a pouring and merging station for pouring and merging liquid; an ultrasonic cleaning tank for ultrasonically dissolving the sample; an oscillation module for accelerating the dissolution of the sample; and a visual inspection module for detecting the degree of dissolution of the sample.

[0013] In some embodiments, the container opening and closing mechanism includes a shaker bottle opening and closing mechanism and a concentration bottle opening and closing mechanism.

[0014] In some embodiments, the visual inspection module is adjacent to the ultrasonic cleaning tank and / or the vibration module. In some embodiments, the ground track module extends along the longitudinal direction of the sample stage and is located at the middle position in the width direction of the sample stage.

[0015] In some embodiments, a positioning sensor is provided on the ground rail module.

[0016] In some embodiments, the robot is equipped with an image recognition module to facilitate its positioning and operation.

[0017] This disclosure also provides an automated sample processing system, which includes a moving module and the aforementioned automated sample dissolution processing device. The moving module is used to pick up and put down materials in the exchange chamber of the automated sample dissolution processing device.

[0018] Some embodiments of this disclosure provide an automated sample dissolution method, comprising: receiving a container containing a sample to be dissolved in an exchange chamber; transferring the container to a container opening and closing module for opening via a robot, wherein the robot is mounted on a ground rail module and is capable of moving along the ground rail module; transferring the opened container to a liquid addition module for liquid addition via a robot; after liquid addition is completed, transferring the container to an ultrasonic cleaning tank and / or agitation module for ultrasonic and / or agitation via a robot; and transferring the container to a visual inspection module via a robot to determine the degree of dissolution of the sample.

[0019] In some embodiments, the robot uses a material handling tool to move containers, with the material handling tool selected based on the type of container.

[0020] In some embodiments, the container includes at least one of a test tube, a concentration bottle, and a shake flask, and the material handling tool includes at least one of a test tube handling tool, a pallet handling tool, and a concentration bottle handling tool; when the container is a concentration bottle or a shake flask, the robot is detachably connected to the concentration bottle handling tool; when the container is a test tube, the robot is detachably connected to the test tube handling tool; when the container is placed on a pallet, the robot is detachably connected to the pallet handling tool.

[0021] In some embodiments, the dissolution process further includes: when the container is a test tube, transferring the test tube to a centrifugation module for centrifugation using a robot; and transferring the test tube to a pipetting module using a robot to transfer the sample solution to another container.

[0022] In some embodiments, the dissolution process further includes: when the container is a concentration bottle, without centrifugation, transferring the concentration bottle to a pipetting module via a robot to transfer the sample solution to another container.

[0023] In some embodiments, the dissolution process further includes: when the container is a concentration bottle and the volume of the sample solution in the concentration bottle is greater than a preset threshold, transferring the concentration bottle to a pouring and merging position by a robot to pour the sample solution into another container.

[0024] In some embodiments, the dissolution process further includes: transferring a container or another container to a container opening / closing module by means of a robot for closing; and transferring the closed container or another container to an exchange chamber by means of a robot.

[0025] This disclosure utilizes a ground track module on the sample worktable, upon which a robot is mounted. The robot can move along the ground track module, thereby improving work efficiency and reducing labor costs. Furthermore, the ground track module reduces the possibility of interference and collisions between the robot and the processing module, thus expanding the freedom of placement for the processing module and further improving material transfer efficiency. This disclosure achieves fully automated and unmanned operation of the sample dilution and reconstitution process, reducing labor costs. Attached Figure Description

[0026] Figure 1 shows a top view of an automated dissolution apparatus for samples according to some embodiments of the present disclosure.

[0027] Figure 2 shows a perspective view of an automated dissolution processing apparatus for samples according to some embodiments of the present disclosure.

[0028] Figures 3 and 4 show perspective views of a liquid dispensing module according to some embodiments of the present disclosure.

[0029] Figure 5 shows a perspective view of some components of a liquid dispensing module according to some embodiments of the present disclosure.

[0030] Figures 6a and 6b show a perspective view and a cross-sectional view of a waste liquid tank of a liquid addition module according to some embodiments of the present disclosure, respectively.

[0031] Figure 7 shows a perspective view of the rotating base of a liquid addition module according to some embodiments of the present disclosure.

[0032] Figure 8 shows a perspective view of an ultrasonic cleaning tank according to some embodiments of the present disclosure.

[0033] Figure 9 shows a perspective view of the gripper assembly of an ultrasonic cleaning tank according to some embodiments of the present disclosure.

[0034] Figures 10a and 10b show perspective views of an oscillation module according to some embodiments of the present disclosure. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions of this disclosure will be described in detail below with reference to the accompanying drawings.

[0036] Exemplary embodiments will be described more fully below with reference to the accompanying drawings; however, these exemplary embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will enable those skilled in the art to fully understand the scope of this disclosure.

[0037] Where there is no conflict, the various embodiments of this disclosure and the features thereof in the embodiments may be combined with each other.

[0038] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0039] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded.

[0040] The embodiments described herein can be described with reference to plan views and / or cross-sectional views using the ideal schematic diagrams of this disclosure. Therefore, the example illustrations can be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to those shown in the drawings, but include modifications to configurations formed based on manufacturing processes. Therefore, the areas illustrated in the drawings are schematic in nature, and the shapes of the areas shown in the figures illustrate specific shapes of areas of an element, but are not intended to be limiting.

[0041] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0042] The following embodiments are intended to enable those skilled in the art to fully understand this disclosure, but do not limit this disclosure in any way.

[0043] In some embodiments, the sample is a biological sample, a pharmaceutical sample, or a chemical sample. 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 herbs, prepared slices of traditional Chinese medicine, proprietary Chinese medicines, semi-finished traditional Chinese medicines, and medicinal plants.

[0044] Figure 1 shows a top view of an automated sample dissolution processing apparatus according to some embodiments of the present disclosure, and Figure 2 shows a perspective view of an automated sample dissolution processing apparatus according to some embodiments of the present disclosure. Referring to Figures 1 and 2, in some embodiments, the automated sample dissolution processing apparatus of the present disclosure includes a sample worktable 19, a processing module, a ground rail module 9, and a robot 15. In some embodiments, the sample worktable 19 may be formed of a suitable material such as stainless steel and resin. In some embodiments, a top cover may be formed on the sample worktable 19, so that the sample worktable 19 and the top cover form a relatively independent receiving space, which is beneficial to the maintenance of the operating environment. In some embodiments, the shape and size of the sample worktable 19 may be designed according to actual needs, and is generally rectangular, but the present disclosure is not limited thereto.

[0045] In some embodiments, a processing module is disposed on a sample worktable 19 for dissolving samples. In some embodiments, depending on the processing design, any suitable number of processing modules can be disposed on the sample worktable 19. In some embodiments, a ground track module 9 is disposed on the sample worktable 19. In some embodiments, the ground track module 9 can employ a single-track design, a double-track design, or any other suitable design. In some embodiments, a robot 15 is disposed on the ground track module 9, wherein the robot 15 is capable of moving along the ground track module 9. In some embodiments, the ground track module 9 includes only straight rails, or includes straight rails and curved rails, the curved rails being used to change the direction of travel of the track, for example, when the ground track module 9 is L-shaped or other shapes requiring turning. In some embodiments, the robot 15 has components that match the track on the ground track module 9, allowing the robot 15 to move on the ground track module 9 while braking and fixing itself upon reaching a designated position on the ground track module 9, thereby improving the operational stability of the robot 15. In some embodiments, the robot 15 can be used for material transfer between various modules in an automated sample dissolution processing device. In some embodiments, the robot 15 can include a three-axis robot, a four-axis robot, or a six-axis robot as in the prior art, but this disclosure is not limited thereto.

[0046] Typically, a robot is fixed at a certain position on the sample worktable 19, with various modules arranged around it. In this case, taller modules are usually positioned further away from the robot to prevent interference and collisions between the robot's robotic arm and the modules. This results in limited module layout; for example, two modules with frequent material transfers may be positioned far apart due to height constraints, unnecessarily increasing material transfer distances and reducing material transfer efficiency. This disclosure reduces the problem of interference and collisions between the fixed robot and modules during operation without compromising the compactness of the automated sample dissolution processing equipment, because the robot 15 moves to the appropriate position on the ground rail module 9 before performing operations. Furthermore, this also reduces the operational complexity of the robot 15, as it can interact with various processing modules at a closer distance. Therefore, the automated sample dissolution processing equipment of this disclosure improves work efficiency and reduces labor costs, while the ground rail module 9 reduces the possibility of interference and collisions between the robot 15 and processing modules, thereby expanding the freedom of setting the processing modules and further improving material transfer efficiency.

[0047] In some embodiments, the automated sample dissolution processing equipment of this disclosure may further include at least one of an exchange chamber 1, a transfer storage location 2, a material handling tool, and a material shelf. In some embodiments, the exchange chamber 1 is used to exchange materials with external sources. For example, the exchange chamber 1 can be used to place materials such as trays, shake flasks, and consumables transported by an external automated guided vehicle (AGV). Additionally, materials processed in the automated sample dissolution processing equipment (e.g., samples reconstituted in shake flasks) can be placed in the exchange chamber 1, after which the external AGV can transport the processed materials to other suitable processing equipment for further processing. In some embodiments, to facilitate material placement by the external AGV, a positioning sensor can be installed in the exchange chamber 1 to allow the AGV to identify the position of the exchange chamber 1 for correct material placement.

[0048] In some embodiments, the transfer storage position 2 is used to temporarily store materials in the automated sample dissolution processing equipment. For example, the space of the exchange chamber 1 is usually limited. In order not to affect the exchange of materials between the automated sample dissolution processing equipment and the outside, after the external AGV places the materials in the exchange chamber 1, the robot 15 can transfer the materials in the exchange chamber 1 to the transfer storage position 2 for temporary storage. In this way, the space in the exchange chamber 1 is freed up to allow for normal material exchange and transmission with the external AGV.

[0049] In some embodiments, the material handling tool is detachably connected to the robot 15 for material handling. In some embodiments, the material handling tool can be quickly connected to the end effector of the robot 15, for example, by magnetic connection, snap-fit, etc. When the robot 15 is handling materials, it can be connected to the corresponding material handling tool to handle the corresponding materials. In some embodiments, the material handling tool may include at least one of a test tube handling tool 10, a tray handling tool 12, and a concentration bottle handling tool 13. In some embodiments, the test tube handling tool 10 can be quickly connected to the end effector of the robot 15 and used when the robot 15 performs the task of handling test tubes. In some embodiments, the tray handling tool 12 can be quickly connected to the end effector of the robot 15 and used when the robot 15 performs the task of handling trays (such as test tube trays, concentration bottle trays, tip head trays, etc.). In some embodiments, the concentration bottle handling tool 13 can be quickly connected to the end effector of the robot 15 and used when the robot 15 performs the task of handling concentration bottles and shake flasks. Therefore, the robot 15 can cooperate with the test tube handling tool 10, the tray handling tool 12, the concentration bottle handling tool 13, etc., to complete the handling tasks of various containers and consumables.

[0050] In some embodiments, the material rack is used for storing materials. In some embodiments, the material rack includes a long material rack 11 and a short material rack 14, the length of which is greater than the length of the short material rack. In some embodiments, both the long material rack 11 and the short material rack 14 can be used to store various containers, consumables, etc. As shown in FIG2, in some embodiments, the top of the long material rack 11 can be used to place material handling tools, such as test tube handling tools 10, pallet handling tools 12, and concentration bottle handling tools 13. In some embodiments, the material rack can also serve as a temporary storage rack for materials in the exchange chamber 1. For example, after an external AGV places materials in the exchange chamber 1, a robot 15 can transfer the materials in the exchange chamber 1 to the material rack for temporary storage. In some embodiments, the material rack serves as a storage rack for materials to be processed or intermediate materials in various processing modules.

[0051] In some embodiments, the transfer storage location 2 is located adjacent to the exchange chamber 1. Thus, after an external AGV places materials in the exchange chamber 1, the robot 15 can efficiently and quickly transfer the materials from the exchange chamber 1 to the transfer storage location 2 for temporary storage. In some embodiments, the transfer storage location 2 may be equipped with positioning elements, such as stepped pins, connecting posts, or elastic clips, to cooperate with and secure shaking flasks, concentration bottles, or test tube trays, preventing these materials from slipping or falling.

[0052] As shown in Figure 1, in some embodiments, the exchange chamber 1 is located at the edge of one side of the automated sample dissolution processing device. This allows an external AGV to conveniently exchange materials with the exchange chamber 1. In some embodiments, the exchange chamber 1 may include at least two compartments (a first compartment and a second compartment), where the first compartment receives materials delivered by the external AGV, and the second compartment holds materials from the automated sample dissolution processing device to be shipped out. In some embodiments, both the first and second compartments are equipped with sensors. Once materials delivered by the external AGV are placed in the first compartment, a notification is sent to the robot 15 informing it that there are materials to be handled or transferred in the first compartment; once materials to be retrieved by the external AGV are placed in the second compartment, a notification is sent to the external AGV informing it that there are materials to be retrieved in the second compartment. In some embodiments, both the first and second compartments may be equipped with positioning elements, such as stepped pins, connecting posts, or elastic clips, to cooperate with and secure shaking flasks, concentration bottles, or test tube trays, preventing these materials from slipping or falling.

[0053] In some embodiments, the processing module includes at least one of a container cap opening / closing module, a liquid addition module, a pipetting module, a centrifugation module, a pouring and merging station, an ultrasonic cleaning tank, a shaking module, and a visual inspection module. In some embodiments, the container cap opening / closing module is used to open and close the container cap. In some embodiments, the container cap opening / closing module includes a shake flask cap opening / closing module 3 and a concentration flask cap opening / closing module 6. In some embodiments, the shake flask cap opening / closing module 3 is used to open and close the shake flask cap, and also supports opening and closing the test tube cap. In some embodiments, the shake flask cap opening / closing module 6 is used to open and close the concentration flask cap, and also supports opening and closing the test tube cap. In some embodiments, the only difference between the shake flask cap opening / closing module 3 and the concentration flask cap opening / closing module 6 is the base used to place the shake flask and the concentration flask; the other structures are the same.

[0054] In some embodiments, the material handling tool includes a container transfer gripper. The robot 15 is connected to the container transfer gripper, which holds the cap of a container used to hold a sample. A container cap opening / closing module holds the body of the container. The container transfer gripper and the container cap opening / closing module cooperate to perform cap opening / closing operations on the container. During cap opening / closing operations, the container transfer gripper holds the cap in place, while the container cap opening / closing module holds the body and rotates it to separate the body from the cap or tighten the body to the cap. The container transfer gripper can hold containers and is mainly used for opening / closing caps and transferring containers. The robot 15 can use the container transfer gripper to transfer containers to different processing modules or material racks, or to transfer containers between different processing modules / material racks.

[0055] In some embodiments, the liquid addition module 4 is used for adding liquid. In some embodiments, the liquid addition module 4 uses a liquid addition needle to add liquid to test tubes / concentration bottles / shaking flasks. As shown in Figures 3 and 4, in some embodiments, the liquid addition module mainly includes a liquid addition pump valve assembly 31, a liquid addition X-axis assembly 32, a liquid addition Y-axis assembly 33, a liquid addition Z-axis assembly 34, a liquid addition needle 35, a rotating base 36, a waste liquid tank 37, and a liquid addition module base 38. In some embodiments, the liquid addition pump valve assembly 31 mainly includes a pump valve assembly fixing plate 311, a 2-position 3-way solenoid valve 312, a plunger pump 313, and a multi-channel switching valve 314. In some embodiments, the pump valve assembly fixing plate 311 is fixed on the liquid addition module column 384, and the 2-position 3-way solenoid valve 312, the plunger pump 313, and the multi-channel switching valve 314 are all fixed on the pump valve assembly fixing plate 311.

[0056] In some embodiments, the liquid filling X-axis assembly 32 is fixed to the liquid filling module base 38, the liquid filling Y-axis assembly 33 is fixed to the liquid filling X-axis assembly 32, the liquid filling Z-axis assembly 34 is fixed to the liquid filling Y-axis assembly 33, and the liquid filling needle 35 is fixed to the liquid filling Z-axis assembly 34. The liquid filling needle 35 can move in the X, Y, and Z directions by moving the liquid filling X-axis assembly 32, the liquid filling Y-axis assembly 33, and the liquid filling Z-axis assembly 34. In some embodiments, the liquid filling needle 35 can be configured in two forms: a curved liquid filling needle 351 and a straight liquid filling needle 352, depending on the different liquid filling functions. In some embodiments, as shown in FIG5, the curved liquid filling needle 351 mainly includes two features: a curved liquid passage connector 3511 and a bent needle tip 3512; the straight liquid filling needle 352 mainly includes two features: a straight liquid passage connector 3521 and a straight needle tip 3522. The liquid dispensing bend 351 is mainly used in conjunction with the rotating base 36 to allow the liquid dispensing bend 351 to flush away materials adhering to the inside of the liquid dispensing container 365 (test tube, concentration bottle, volumetric flask, etc.). In some embodiments, the liquid dispensing straight needle 352 is mainly used for conventional liquid dispensing and for small-diameter liquid dispensing containers, such as 96-position microplates 382.

[0057] In some embodiments, as shown in FIG7, the rotating base 36 includes a rotary motor 361, a synchronous belt 362, a synchronous pulley 363, a container support 364, and a liquid addition container 365. When the rotary motor 361 rotates, it drives the synchronous belt 362 and the synchronous pulley 363 to move, thereby causing the container support 364 to rotate together. The liquid addition container 365 is placed on the container support 364, and rotates together with the container support 364. The liquid addition container 365 can be a test tube, a concentration bottle, a volumetric flask, etc. In some embodiments, as shown in FIG6a and FIG6b, the waste liquid tank 37 includes a drain ramp 371, a circular cleaning tank 372, and a waste liquid pipe 373. When it is necessary to clean the liquid addition needle 35 or drain waste liquid, the liquid addition needle 35 extends into the corresponding circular cleaning tank 372 and discharges liquid. The waste liquid flows into the waste liquid pipe 373 through the drain ramp 371. In some embodiments, the liquid addition module base 38 includes a standard tray base 381, a 96-position microporous plate 382, ​​and a shaking flask 383, which can add liquid to a variety of liquid addition containers.

[0058] In some embodiments, the specific piping connections of the liquid addition module 4 are as follows: the middle interface of the lower multi-channel switching valve 314 is connected to the middle interface of the upper multi-channel switching valve 314; the interfaces around the lower multi-channel switching valve 314 are connected to the solvent bottle; the interfaces around the upper multi-channel switching valve 314 are connected to the normally open interface of the 2-position 3-way solenoid valve 312; the common interface of the 2-position 3-way solenoid valve 312 is connected to the plunger pump 313; and the normally closed port of the 2-position 3-way solenoid valve 312 is connected to the liquid addition needle. The pipes connecting the above components can be PTFE pipes. In some embodiments, when the liquid addition module 4 is adding liquid, the lower multi-channel switching valve 314 is connected to the corresponding solvent, and the upper multi-channel switching valve is connected to the corresponding liquid addition needle 35. The liquid addition needle 35 is moved to the set liquid addition position by the liquid addition X-axis assembly 32, the liquid addition Y-axis assembly 33, and the liquid addition Z-axis assembly 34. The plunger pump 313 is started, and the liquid is transported from the solvent bottle to the liquid outlet of the liquid addition needle 35 through the corresponding liquid pipeline to complete the liquid addition.

[0059] In some embodiments, the pipetting module 5 is used for liquid transfer. In some embodiments, the pipetting module 5 uses a tip-type pipetting method to transfer liquid from multiple test tubes / concentration flasks to a designated test tube / concentration flask. In some embodiments, the pipetting module 5 may include a pipetting tip (e.g., a tip), a drive mechanism, a displacement sensor, a pressure sensor, and a controller. The pipetting tip is the part that directly contacts the liquid and is typically designed to be replaceable, disposable, or reusable. The size and shape of the pipetting tip vary depending on the volume of liquid to be processed. The drive mechanism controls the up-and-down movement of the pipetting tip to achieve liquid aspiration and dispensing actions. The drive mechanism can be a stepper motor, a servo motor, or a pneumatic system, the specific choice depending on the required accuracy and speed. The displacement sensor is used to accurately measure the position of the pipetting tip to ensure that the expected volume is achieved each time liquid is aspirated and dispensed. The pressure sensor is responsible for detecting pressure changes generated during pipetting, which helps to determine if there are problems such as air bubbles or blockages. The controller includes a microprocessor and related software to parse user instructions, control the entire pipetting process, and process data from the sensors to ensure operational accuracy. In some embodiments, the centrifugation module 7 is used for liquid centrifugation. In some embodiments, the centrifugation module 7 is used for centrifuging test tubes. In some embodiments, the centrifugation module 7 may include a centrifuge body, a safety mechanism, and a cooling mechanism. In some embodiments, the centrifuge body may include a motor, a rotor, and a housing. The motor provides rotational power and is typically a brushless DC motor, characterized by high efficiency and low noise. The rotor, mounted on the motor shaft, is used to load sample tubes. The type and design of the rotor vary depending on the sample characteristics and separation requirements; common types include horizontal rotors and angle rotors. The housing protects the internal mechanical components and also provides sound insulation and heat dissipation. In some embodiments, the safety mechanism may include a door lock, an imbalance detection system, and overheat protection. The door lock ensures the lid is closed during centrifugation to prevent accidental opening and potential danger. The imbalance detection system checks the rotor's balance during operation and immediately stops the centrifuge if an imbalance is detected. The overheat protection system automatically cuts off the power supply when the motor or circuit temperature is too high to prevent damage to the module. In some embodiments, the cooling mechanism may include a cooling unit and a fan. The cooling unit keeps the sample in a low-temperature environment, suitable for temperature-sensitive samples. The fan helps dissipate heat and maintain the module's normal operating temperature.

[0060] In some embodiments, the pouring and merging station 8 is used for pouring and merging liquids. In some embodiments, the pouring and merging station 8 is used to pour liquids from multiple concentration bottles into a designated concentration bottle. In some embodiments, the pouring and merging station 8 may include a support frame, a pouring mechanism, a receiving container fixing mechanism, and a drive mechanism. In some embodiments, the support frame may include a frame and a height adjustment mechanism. The frame is used to fix and support other components to ensure the stability of the module; the height adjustment mechanism allows the height of the support frame to be adjusted as needed to accommodate containers of different heights. In some embodiments, the pouring mechanism may include a pouring arm, a gripper, and a sensor. The pouring arm is used to grip and tilt the container to allow the liquid or material inside to flow out smoothly. The pouring arm is typically designed to be telescopic and rotatable to accommodate containers of different sizes and shapes. The gripper is used to fix the container and prevent it from slipping during pouring. The gripper may have different gripping forces and ranges. The sensor is responsible for detecting the position and angle of the container to ensure the accuracy and safety of the pouring process. In some embodiments, the receiving container fixing mechanism is used to fix the receiving container, for example, the container can be snapped onto a base. In some embodiments, the drive mechanism is typically driven by an electric motor or pneumatic system to control the movement of the pouring arm.

[0061] In some embodiments, the ultrasonic cleaning tank 16 is used for ultrasonically dissolving samples. In some embodiments, the ultrasonic cleaning tank 16 is used for ultrasonically dissolving samples in test tubes / concentration flasks. In some embodiments, the ultrasonic cleaning tank 16 may include a cleaning tank, an ultrasonic generator, and a temperature sensor. In some embodiments, the cleaning tank may include a tank body, a heating element, and a drain outlet. The tank body is used to hold the cleaning solution and is typically made of stainless steel or corrosion-resistant materials to prevent chemical corrosion. The heating element improves the cleaning effect by heating the cleaning solution, especially when cleaning grease-like dirt. The drain outlet is used to discharge waste liquid after cleaning and is typically equipped with a filter screen to prevent solid particles from entering the drainage system. In some embodiments, the ultrasonic generator may include a transducer and a control unit. The transducer converts electrical energy into mechanical energy (ultrasonic waves) and is typically installed at the bottom or side wall of the cleaning tank. The control unit adjusts the frequency and power of the ultrasonic waves to ensure effective cleaning while protecting the cleaned object from damage. In some embodiments, the temperature sensor monitors the temperature of the cleaning solution to ensure it remains within a set range.

[0062] In some embodiments, the oscillation module 17 is used to accelerate the dissolution of samples. In some embodiments, the oscillation module 17 is used to oscillate test tubes / concentration bottles after liquid addition, in conjunction with the ultrasonic cleaning tank 16 to accelerate sample dissolution. In some embodiments, the oscillation module 17 may include a fixing mechanism, a driving mechanism, and a safety mechanism. In some embodiments, the fixing mechanism is used to fix the sample container to prevent it from sliding or tipping over during oscillation. The fixing mechanism may be an elastic clamp, a magnetic base, or a dedicated adapter. In some embodiments, the driving mechanism may include a motor and a transmission mechanism. The motor provides the driving force required for oscillation, typically using an AC or DC motor, which has high efficiency and long lifespan. The transmission mechanism converts the rotational motion of the motor into the reciprocating motion or circular motion of the platform. Common transmission mechanisms include eccentric wheels, crank connecting rods, and cams. In some embodiments, the safety mechanism may include overload protection and balance detection. When the motor load is too high, the overload protection automatically cuts off the power supply to prevent motor damage. The balance detection detects whether the load is balanced to prevent module damage or safety accidents caused by imbalance.

[0063] In some embodiments, the ultrasonic cleaning tank 16 and the oscillation module 17 can be integrated to form an ultrasonic oscillation module. As shown in FIG8, the ultrasonic oscillation module mainly comprises an ultrasonic cleaning tank 16, a gripper assembly 82, an oscillation module 17, and a mounting base 84. In some embodiments, the ultrasonic cleaning tank 16 needs to be filled with sufficient water in its inner cavity. In some embodiments, the gripper assembly 82 mainly comprises a gripping electric claw 821, a gripping finger 822, and a gripper lifting assembly 823. The gripping finger 822 is fixed on the gripping electric claw 821, and multiple gripping electric claws 821 are fixed on the gripper lifting assembly 823 and can be raised and lowered simultaneously. Multiple gripping electric claws 821 can grip multiple test tubes 85 or concentration bottles 86 as needed. In some embodiments, the gripper assembly 82 is mounted on the oscillation module 17. As shown in Figure 9, the gripper assembly 82 can also be composed of a gripping pneumatic gripper 824, a gripping finger 825, and a gripper lifting assembly 826. The gripping finger 825 is fixed on the gripping pneumatic gripper 824, and multiple gripping pneumatic grippers 824 are fixed on the gripper lifting assembly 826 and can be lifted and lowered simultaneously. Multiple gripping pneumatic grippers 824 can grip multiple volumetric bottles 27 as needed.

[0064] As shown in Figures 10a and 10b, in some embodiments, the oscillation module 17 mainly includes an oscillation base plate 171, an oscillation rotary motor 172, an upper guide rail 173, an upper connecting plate 174, a lower guide rail 175, an eccentric shaft 176, a bearing seat 177, a shock-absorbing base 178, a driving synchronous pulley 179, a synchronous belt 1710, and a driven synchronous pulley 1711. In some embodiments, the oscillation rotary motor 172, the lower guide rail 175, and the bearing seat 177 are fixed on the oscillation base plate 171. The driving synchronous pulley 179 is connected to the main shaft of the oscillation rotary motor 172, and the driven synchronous pulley 1711 is connected to the eccentric shaft 176. When the oscillation rotary motor 172 rotates, the driving synchronous pulley 179 below the oscillation base plate 171 drives the driven synchronous pulley 1711 to rotate via the synchronous belt 1710, thereby driving the eccentric shaft 176 to rotate. In some embodiments, the eccentric shaft 176 is connected to the upper connecting plate 174, pushing the upper connecting plate 174 to perform circumferential translational motion, thereby driving the gripper assembly 82 to perform circumferential oscillation.

[0065] In some embodiments, when the ultrasonic oscillation module is working, sufficient water needs to be added to the inner cavity of the ultrasonic cleaning tank 16 beforehand, and the test tubes and concentration bottles requiring ultrasonic oscillation are clamped on the clamping fingers 822. The gripper lifting assembly 823 lowers the test tubes and concentration bottles, immersing them in the water inside the ultrasonic cleaning tank 16. The ultrasonic generator of the ultrasonic cleaning tank 16 is activated, accelerating the dissolution of substances in the test tubes and concentration bottles. When oscillation is required, the oscillation rotation motor 172 is activated, causing the test tubes and concentration bottles to oscillate in a circular motion. The setup can be adjusted according to experimental requirements, either oscillation and ultrasound simultaneously, or ultrasound followed by oscillation.

[0066] In some embodiments, the visual inspection module 18 is used to detect the degree of sample dissolution. In some embodiments, the visual inspection module 18 is used to detect whether the sample in the test tube / concentration bottle is completely dissolved. Typically, the visual inspection module 18 mainly checks whether there are undissolved solid particles at the bottom of the container; additionally, it can also detect the transparency of the solution in the container. A completely dissolved solution is usually transparent, without turbidity or suspended particles. For example, the visual inspection module 18 can take pictures of the bottom, middle, or top of the container and analyze the images to obtain information such as the clarity of the sample solution. The visual inspection module 18 can monitor the dissolution of the sample in real time, ensuring that each step achieves the expected results and avoiding experimental failures due to insufficient sample dissolution. It should be understood that this disclosure can also employ a visual inspection module utilizing other suitable detection methods.

[0067] In some embodiments, the visual inspection module 18 is located adjacent to the ultrasonic cleaning tank 16 and / or the vibration module 17. Thus, after the sample has been ultrasonicated and / or vibrated, it can be conveniently transferred to the visual inspection module 18 to detect whether the sample has completely dissolved.

[0068] In some embodiments, a recycling mechanism may be provided within the base of the sample worktable 19. This recycling mechanism passes through the sample worktable 19 to collect waste solutions, containers, tip heads, filter heads, etc. In some embodiments, the base of the sample worktable 19 is a hollow shell, and its internal space can house the control and electrical modules of the robot 15 and the processing module, such as an electrical box, computer host, or robot control box. Additionally, the base may also contain multiple cooling fans to dissipate heat from the electrical control modules within it; the controllers for these cooling fans may also be located within the base.

[0069] As shown in Figure 1, in some embodiments, the ground rail module 9 extends along the longitudinal direction (left-right direction in Figure 1) of the sample worktable 19 and is located at the middle position in the width direction (vertical direction in Figure 1) of the sample worktable 19. In this way, the material racks and various processing modules can be arranged on both sides of the ground rail module 9 in the width direction of the automated sample dissolution processing equipment, which facilitates the robot 15 in material handling between the material racks and various processing modules, improving material transfer efficiency. Additionally, this also facilitates a compact arrangement of the automated sample dissolution processing equipment.

[0070] In some embodiments, the ground rail module 9 is equipped with positioning sensors. For example, for each material shelf and processing module, there is a corresponding positioning sensor on the ground rail module 9. When the robot 15 needs to exchange materials with the corresponding processing module, the robot 15 can quickly locate the corresponding position, thereby improving the material transfer efficiency.

[0071] In some embodiments, the robot 15 is equipped with an image recognition module to facilitate the robot's positioning and operation. For example, in some embodiments, the robot 15 may be equipped with a camera to acquire surrounding images for image analysis, which can help locate the corresponding processing module for material exchange, and can also be used to improve operational accuracy, such as adjusting the robot 15's pose in real time based on the acquired images to exchange materials with the corresponding processing module.

[0072] In some embodiments, this disclosure also provides an automated sample processing system, which includes a moving module and the aforementioned automated sample dissolution processing device. The moving module is used to pick up and place materials in the exchange chamber of the automated sample dissolution processing device. In some embodiments, the moving module may include an AGV, which can transfer materials between the automated sample dissolution processing device and other external devices.

[0073] The workflow of the automated sample dissolution apparatus of this disclosure is briefly described below to better understand this disclosure. It should be understood that this is merely exemplary and not intended to limit this disclosure. Furthermore, the arrangement of the various modules in Figures 1 and 2 is also exemplary, and this disclosure is not limited thereto.

[0074] During the preparation phase before the experiment, an external AGV vehicle transfers the pallet / shaking bottle to the exchange compartment 1. The robot 15 selects the corresponding handling tool (e.g., pallet handling tool 12 or concentrate bottle handling tool 13) to transfer the pallet / shaking bottle on the exchange compartment 1 to the transfer temporary storage location 2, the long material shelf 11, or the short material shelf 14.

[0075] Once all the required materials are fed into the long material rack 11 or the short material rack 14, the robot 15 selects the corresponding handling tool (e.g., test tube handling tool 10 or concentration bottle handling tool 13) to transfer the test tubes / concentration bottles / shaking flasks to the shaking flask cap opening module 3 or the concentration bottle cap opening module 6 for opening. The robot 15 then transfers the opened container to the liquid addition module 4 for liquid addition. After liquid addition is complete, the robot 15 transfers the container to the shaking module 17. Depending on the experimental requirements, it can choose to sonicate and shake simultaneously, or sonicate first and then shake. After sonication and shaking for a certain period, the robot 15 transports the container to the visual inspection module 18, which checks whether the sample inside the container has completely dissolved.

[0076] If a shake flask is used, no further processing is required before it leaves the station. If a test tube is used, robot 15 first transports the test tube to centrifugation module 7 for centrifugation. Because the liquid volume in the test tube is relatively small, it is necessary to ensure that as much liquid as possible can be aspirated during pipetting. The purpose of centrifugation is to shake the liquid on the test tube wall to the bottom of the test tube to ensure that the liquid can be aspirated completely during pipetting. After centrifugation for a certain period of time and speed, the test tube is transferred to pipetting module 5, which transfers the liquid in the test tube to the designated test tube / concentrator. If a concentration bottle is used, centrifugation is not required (because the liquid volume in the concentration bottle is relatively large, and some liquid residue on the bottle wall is relatively acceptable), and the liquid is directly transferred to pipetting module 5, which transfers the liquid in the concentration bottle to the designated test tube / concentrator. According to the experimental requirements, when the volume of liquid in the concentration bottle is large, it would require many operations to combine them by pipetting (the maximum volume of the pipette is usually only 5ml). Therefore, the concentration bottle can be transferred to the pouring and merging position 8 first, and the robot 15 uses the concentration bottle handling tool 13 to pour the concentration bottles to be merged into another designated concentration bottle by pouring, thereby improving the efficiency of liquid merging.

[0077] After the test tubes / concentrate flasks have completed the corresponding liquid addition, shaking, and merging operations, robot 15 transfers the test tubes / concentrate flasks to their corresponding shaker flask opening / closing module 3 or concentrate flask opening / closing module 6 for closing. The closed test tubes / concentrate flasks are then returned to their corresponding trays and stored in the long material shelf 11 or the short material shelf 14.

[0078] After all samples have been dissolved, robot 15 transfers all samples to exchange chamber 1 in sequence, and external AGV then delivers the samples in exchange chamber 1 to the designated destination.

[0079] Some embodiments of this disclosure provide an automated sample dissolution method, comprising: receiving a container containing a sample to be dissolved in an exchange chamber; transferring the container to a container opening and closing module for opening via a robot, wherein the robot is mounted on a ground rail module and is capable of moving along the ground rail module; transferring the opened container to a liquid addition module for liquid addition via a robot; after liquid addition is completed, transferring the container to an ultrasonic cleaning tank and / or agitation module for ultrasonic and / or agitation via a robot; and transferring the container to a visual inspection module via a robot to determine the degree of dissolution of the sample.

[0080] Specifically, in some embodiments, after the sample to be dissolved (e.g., lyophilized sample) is transferred by AGV to the exchange chamber of the automated sample dissolution processing equipment, robot 15 selects the corresponding handling tool (e.g., test tube handling tool 10 or concentration bottle handling tool 13) to transfer the test tube / concentration bottle / shaking flask to the shaking flask cap opening module 3 or concentration bottle cap opening module 6 for opening. Then, robot 15 transfers the opened container to the liquid addition module 4 for liquid addition. After liquid addition is completed, robot 15 transfers the container to the shaking module 17. Depending on the experimental requirements, it can be selected to sonicate and shake simultaneously, or sonicate first and then shake. After sonication and shaking for a certain period of time, robot 15 transports the container to the visual inspection module 18, which detects whether the sample in the container is completely dissolved.

[0081] In some embodiments, the robot uses a material handling tool to move containers, the material handling tool being selected depending on the type of container. In some embodiments, the container includes at least one of test tubes, concentration bottles, and shake flasks, and the material handling tool includes at least one of test tube handling tools, tray handling tools, and concentration bottle handling tools; when the container is a concentration bottle or shake flask, the robot is detachably connected to the concentration bottle handling tool; when the container is a test tube, the robot is detachably connected to the test tube handling tool; when the container is placed on a tray, the robot is detachably connected to the tray handling tool.

[0082] In some embodiments, the dissolution method further includes: when the container is a test tube, transferring the test tube to a centrifugation module for centrifugation using a robot; and transferring the test tube to a pipetting module using a robot to transfer the sample solution to another container. In some embodiments, the dissolution method further includes: when the container is a concentration bottle, without centrifugation, transferring the concentration bottle to a pipetting module using a robot to transfer the sample solution to another container. In some embodiments, the dissolution method further includes: when the container is a concentration bottle and the volume of the sample solution in the concentration bottle is greater than a preset threshold (e.g., 3 ml, 4 ml, or 5 ml, or other suitable values), transferring the concentration bottle to a pouring and merging station using a robot to pour the sample solution into another container.

[0083] Specifically, in some embodiments, if a shake flask is used, it can be directly removed from the station without further processing; if a test tube is used, robot 15 first transports the test tube to centrifugation module 7 for centrifugation. Because the liquid volume in the test tube is relatively small, it is necessary to ensure that the liquid can be aspirated as completely as possible during pipetting. The purpose of centrifugation is to shake the liquid on the test tube wall to the bottom of the test tube to ensure that the liquid can be aspirated completely during pipetting. After centrifugation for a certain period of time and speed, the test tube is transferred to pipetting module 5, which transfers the liquid in the test tube to the designated test tube / concentration bottle. If a concentration bottle is used, centrifugation is not required (because the liquid volume in the concentration bottle is relatively large, and some liquid residue on the bottle wall is relatively acceptable), and it is directly transferred to pipetting module 5, which transfers the liquid in the concentration bottle to the designated test tube / concentration bottle. According to the experimental requirements, when the volume of liquid in the concentration bottle is large, it would require many operations to combine them by pipetting (the maximum volume of the pipette is usually only 5ml). Therefore, the concentration bottle can be transferred to the pouring and merging position 8 first, and the robot 15 uses the concentration bottle handling tool 13 to pour the concentration bottles to be merged into another designated concentration bottle by pouring, thereby improving the efficiency of liquid merging.

[0084] In some embodiments, the dissolution process further includes: transferring the container or another container to a container capping module via a robot for capping; and transferring the capped container or another container to an exchange chamber via a robot. In some embodiments, for cases where direct discharge without pipetting is possible, the container is capped and transferred to the exchange chamber via a robot, and then transported to other workstations or processing equipment by an external AGV. In some embodiments, when the sample solution is transferred to another container, whether poured into or pipetted into that other container, the other container is capped and transferred to the exchange chamber via a robot, and then transported to other workstations or processing equipment by an external AGV. It should be understood that before the capped container or another container is transferred to the exchange chamber, it can be temporarily stored in a transfer storage area or on a long or short material shelf, and then transferred to the exchange chamber at an appropriate time.

[0085] The automated sample dissolution processing equipment disclosed herein includes a series of functions such as liquid addition, pipetting, ultrasonic dissolution, and visual inspection. It is mainly applied in the field of pharmaceutical extraction, specifically for diluting and reconstituted lyophilized samples. A liquid addition module adds liquid to the lyophilized sample, and an ultrasonic oscillation module accelerates the dissolution. Finally, the reconstituted samples are combined using pipetting / pouring. The entire process is automated, reducing labor costs. This disclosure utilizes the cooperation of the liquid addition and pipetting modules. By adding different amounts of solvent through the liquid addition module and transferring the liquid through the pipetting module, samples of different liquid concentrations are obtained, thus enabling pharmaceutical samples to be directly transformed from solid samples into liquid samples of varying concentrations.

[0086] The automated sample dissolution equipment disclosed herein can open and close the caps and add liquid to various containers (test tubes / concentration bottles / shaking flasks), and perform ultrasonic vibration on the samples to improve the dissolution efficiency of the freeze-dried samples. It is also equipped with a vision inspection module to detect the dissolution status of the samples. The module has a high throughput and high flexibility, and can achieve full automation, reducing labor costs.

[0087] By combining a robot with a ground-rail module, large quantities of samples can be transported and processed quickly and accurately, significantly improving experimental capacity and efficiency. Furthermore, by incorporating a ground-rail module and positioning the robot to move along it, this disclosure reduces interference and collisions between the stationary robot and the module during operation, without compromising the compactness of the automated sample dissolution equipment. This is because the robot moves to the appropriate position on the ground-rail module before performing its operations. Additionally, this reduces the robot's operational complexity, allowing for closer interaction with various processing modules. Therefore, the automated sample dissolution equipment of this disclosure improves work efficiency and reduces labor costs. The ground-rail module design reduces the likelihood of interference and collisions between the robot and the processing modules, thereby expanding the freedom of module placement and further enhancing material transfer efficiency.

[0088] Furthermore, the automated sample dissolution device disclosed herein is designed with future scalability in mind, and can be adapted to changing experimental needs by adding new modules or adjusting the functionality of existing modules.

[0089] Those skilled in the art should understand that the above embodiments are merely exemplary embodiments, and various changes, substitutions, and modifications can be made without departing from the spirit and scope of this disclosure.

[0090] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in connection with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in connection with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of this disclosure as set forth by the appended claims.

Claims

1. An automated sample dissolution processing device, characterized in that, include: Sample worktable; A processing module, located on the sample worktable, is used for dissolving the sample; The ground track module is installed on the sample worktable; A robot is mounted on the ground track module, wherein the robot is capable of moving along the ground track module.

2. The automated sample dissolution equipment according to claim 1, characterized in that, It also includes at least one of the following modules: an exchange chamber for exchanging materials with an external source; a transfer storage location for temporarily storing materials in an automated dissolution processing device for the sample; a material handling tool for material handling via a detachable connection to the robot; and a material shelf for storing materials.

3. The automated sample dissolution equipment according to claim 2, characterized in that, The material handling equipment includes at least one of test tube handling equipment, tray handling equipment, and concentration bottle handling equipment.

4. The automated sample dissolution equipment according to claim 2, characterized in that, The material rack includes a first material rack and a second material rack. The length of the first material rack is greater than the length of the second material rack. The first material rack can be used to place the material handling tools.

5. The automated sample dissolution equipment according to claim 2, characterized in that, The transit storage location is located adjacent to the exchange compartment.

6. The automated sample dissolution equipment according to claim 2, characterized in that, The exchange chamber is located on the edge of one side of the automated dissolution processing equipment for the sample.

7. The automated sample dissolution equipment according to claim 1, characterized in that, The processing module includes at least one of the following modules: a container opening / closing module for opening and closing the container lid; The liquid addition module is used for adding liquids; the liquid transfer module is used for transferring liquids. Centrifugation module for centrifuging liquids; pouring and merging station for pouring and merging liquids; ultrasonic cleaning tank for ultrasonically dissolving samples; oscillation module for accelerating sample dissolution; The visual inspection module is used to detect the degree of solubility of the sample.

8. The automated sample dissolution equipment according to claim 7, characterized in that, The container opening and closing module includes a shaker bottle opening and closing module and a concentration bottle opening and closing module.

9. The automated sample dissolution equipment according to claim 7, characterized in that, The visual inspection module is located adjacent to the ultrasonic cleaning tank and / or the vibration module.

10. The automated sample dissolution apparatus according to any one of claims 1 to 9, characterized in that, The ground track module extends along the longitudinal direction of the sample worktable and is located at the middle position in the width direction of the sample worktable.

11. The automated sample dissolution processing equipment according to claim 10, characterized in that, The ground rail module is equipped with a positioning sensor.

12. The automated sample dissolution apparatus according to any one of claims 1 to 9, characterized in that, The robot is equipped with an image recognition module to facilitate its positioning and operation.

13. An automated sample processing system, characterized in that, The automated sample processing system includes a moving module and an automated sample dissolution processing device according to any one of claims 1 to 12, wherein the moving module is used to pick up and place materials in the exchange chamber of the automated sample dissolution processing device.

14. An automated sample dissolution method, characterized in that, include: The exchange chamber receives containers containing samples to be dissolved. The container is transferred to the container opening and closing module by a robot, which is mounted on a ground rail module and can move along the rail module. The opened container is then transferred to the liquid addition module by the robot for liquid addition. After liquid addition is completed, the container is transferred to the ultrasonic cleaning tank and / or vibration module for ultrasonic and / or vibration. Finally, the container is transferred to the visual inspection module by the robot to determine the degree of dissolution of the sample.

15. The automated dissolution method for samples according to claim 14, characterized in that, The robot uses a material handling tool to move the container, and the material handling tool is selected according to the type of the container.

16. The automated dissolution method for samples according to claim 15, characterized in that, The container includes at least one of test tubes, concentration bottles, and shake flasks; the material handling tool includes at least one of test tube handling tool, tray handling tool, and concentration bottle handling tool; when the container is a concentration bottle or shake flask, the robot is detachably connected to the concentration bottle handling tool; when the container is a test tube, the robot is detachably connected to the test tube handling tool; when the container is placed on a tray, the robot is detachably connected to the tray handling tool.

17. The automated dissolution method for samples according to claim 14, characterized in that, Also includes: When the container is a test tube, the robot transfers the test tube to the centrifugation module for centrifugation. The robot transfers the test tube to the pipetting module to transfer the sample solution to another container.

18. The automated dissolution method for samples according to claim 14, characterized in that, Also includes: When the container is a concentration bottle, centrifugation is not required; the robot transfers the concentration bottle to the pipetting module to transfer the sample solution to another container.

19. The automated dissolution method for samples according to claim 14, characterized in that, Also includes: When the container is a concentration bottle and the volume of the sample solution in the concentration bottle is greater than a preset threshold, the robot transfers the concentration bottle to the pouring and merging position to pour the sample solution into another container.

20. The automated dissolution method for samples according to any one of claims 17 to 19, characterized in that, Also includes: The robot transfers the container or the other container to the container opening and closing module for closing. The robot transfers the closed container or the other container into the exchange chamber.

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