Microorganism detection system

Abstract

The microbiological detection system comprises a sample loading assembly, an incubation assembly, a detection assembly, a recovery assembly and a transfer assembly, the sample loading assembly is used for receiving a sample container loaded with a sample, and the sample container comprises a bottle opening section, a transition section and a bottle body section which are arranged in the axial direction of the sample container; the transfer assembly comprises a manipulator, the manipulator comprises at least two clamping jaws, the at least two clamping jaws are provided with clamping parts used for clamping bottle body sections, each clamping part forms a containing space used for containing a sample container, and at least one clamping jaw is further provided with an abutting part extending into the containing space; the manipulator abuts against a sample container loaded with a to-be-incubated sample through the abutting part so as to push the sample container to move into the incubation assembly through the abutting part; or, the manipulator abuts against the sample container loaded with the detected sample through the abutting part, so that the sample container is pushed to move out of the incubation assembly through the abutting part, and normal transfer of the sample container is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical equipment, and in particular to a microorganism detection system. BACKGROUND

[0002] A culture bottle for containing a microorganism sample sequentially comprises a bottle mouth portion, a bottle neck portion and a bottle body portion, the outer diameter of the bottle neck portion is smaller than that of the bottle mouth portion and the bottle body portion. The detection system needs to transfer the culture bottle by a mechanical hand during the detection process. Currently, there are two main grabbing methods for transferring the culture bottle by the mechanical hand, one of which is to grab the lower end face of the bottle mouth portion, and the other is to grab the outer circumferential surface of the bottle body portion. The former has the problem of low positioning accuracy, which can easily lead to the culture bottle not being accurately placed into the incubation hole of the incubation module. The latter relies on friction to hold the culture bottle, which has the risk of falling. On the other hand, when the culture bottle is inserted into a structure such as an incubation hole of an incubation device, there is a situation that the culture bottle cannot be inserted in place due to the friction or the obstruction of the elastic structure in the hole, which affects the detection. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a sample analysis system which can push a sample container into or out of an incubation assembly by a butt joint portion.

[0004] According to the sample analysis system in the first embodiment of the present application, comprising:

[0005] a sample loading assembly for receiving a sample container loaded with a sample, the sample container comprising a bottle mouth section, a transition section and a bottle body section arranged along an axial direction of the sample container, the bottle mouth section comprising an opening part having an opening and a bottle cap for closing the opening, the transition section being connected between the opening part and the bottle body section, and the outer diameter of the bottle mouth section being smaller than or equal to the outer diameter of the bottle body section;

[0006] an incubation assembly for incubating the sample in the sample container;

[0007] a detection assembly for detecting the growth of microorganisms in the sample container placed in the incubation assembly;

[0008] a recovery assembly for receiving a sample container loaded with a detected sample;

[0009] a transfer assembly for transferring the sample container from the loading assembly to the incubation assembly, or transferring the sample container from the incubation assembly to the recovery assembly, the transfer assembly comprising a mechanical hand, the mechanical hand comprising at least two clamping jaws, at least two of the clamping jaws having a clamping portion for clamping the body section, each of the clamping portions forming a receiving space for receiving the sample container, at least one of the clamping jaws further having an abutting portion extending into the receiving space, the abutting portion being located between the mouth section and the body section and towards the transition section when the mechanical hand clamps the body section, and a distance between the abutting portion and an axis of the sample container being less than an outer diameter of the mouth section;

[0010] a controller;

[0011] wherein the controller is configured to control the mechanical hand to abut the sample container loaded with a sample to be incubated by the abutting portion towards the body section, for pushing the sample container into the incubation assembly by the abutting portion;

[0012] Alternatively, the controller is configured to control the mechanical hand to abut the sample container loaded with a sample to be detected by the abutting portion towards the mouth section, for pushing the sample container out of the incubation assembly by the abutting portion.

[0013] The sample extraction device according to the embodiments of the present application has at least the following beneficial effects:

[0014] The clamping portion and the abutting portion are provided in the present embodiment, on the one hand, the clamping portion can improve the clamping precision of the sample container, on the other hand, the abutting portion can prevent the sample container from falling and push the sample container, which is conducive to ensuring the normal transfer of the sample container.

[0015] In other embodiments of the present application, each of the clamping jaws comprises the abutting portion and at least two clamping portions, the at least two clamping portions being spaced apart along a circumferential direction of the body section when the mechanical hand clamps the body section, wherein each of the clamping portions extends along an axial direction of the body section.

[0016] In other embodiments of the present application, the clamping portion has a first side towards the body section when clamping the body section, and a second side opposite to the first side, the clamping jaw comprises two clamping portions, the clamping portions are provided with clamping surfaces for clamping the sample container, and a distance between the clamping surfaces of the two clamping portions decreases in a direction from the first side to the second side.

[0017] In other embodiments of the present application, the control of the robot arm to abut the sample container loaded with the detected sample through the abutting portion towards the bottle body section direction comprises: control of the robot arm to abut the transition section of the sample container or the bottle cap through the abutting portion towards the bottle body section direction;

[0018] Alternatively, the control of the robot arm to abut the sample container loaded with the sample to be incubated through the abutting portion towards the bottle body section direction comprises: control of the robot arm to abut the transition section of the sample container through the abutting portion towards the bottle body section direction.

[0019] In other embodiments of the present application, the transition section comprises a bottle neck section and a first abutting surface, the outer diameter of the bottle neck section is smaller than that of the bottle mouth section, and the bottle neck is connected to the bottle mouth section through the first abutting surface, the control of the robot arm to abut the transition section of the sample container through the abutting portion towards the bottle mouth section direction comprises: control of the robot arm to abut the first abutting surface of the sample container through the abutting portion towards the bottle mouth section direction.

[0020] And / or, the transition section comprises a bottle neck section and a second abutting surface, the outer diameter of the bottle neck section is smaller than that of the bottle body section, and the bottle neck is connected to the bottle body section through the second abutting surface, the control of the robot arm to abut the transition section of the sample container through the abutting portion towards the bottle body section direction comprises: control of the robot arm to abut the second abutting surface of the sample container through the abutting portion towards the bottle body section direction.

[0021] In other embodiments of the present application, the outer diameter of the first abutting surface increases in the direction from the bottle neck section to the bottle mouth section, and the abutting portion is provided with a slope or an arc surface for abutting the first abutting surface;

[0022] And / or, the outer diameter of the second abutting surface increases in the direction from the bottle neck section to the bottle body section, and the abutting portion is provided with a slope or an arc surface for abutting the second abutting surface.

[0023] In other embodiments of the present application, the robot arm has a first state for clamping the sample container and a second state for releasing the sample container, the first opening degree of the robot arm in the first state is smaller than the second opening degree of the robot arm in the second state, and each clamping portion clamps the outer peripheral surface of the bottle body section when the robot arm is in the first state, and each clamping portion is separated from the outer peripheral surface of the bottle body section when the robot arm is in the second state;

[0024] The mechanical hand further has a third state, a third opening degree of the mechanical hand in the third state is greater than the first opening degree and less than the second opening degree, each of the clamping portions is separated from the outer circumferential surface of the bottle body section when the mechanical hand is in the third state, the sample container can move radially relative to the mechanical hand and / or swing in a circumferential direction;

[0025] The pushing of the sample container into the incubation assembly by the abutting portion includes: the mechanical hand in the third state pushing the sample container loaded with the sample to be incubated into the incubation assembly by the abutting portion;

[0026] The pushing of the sample container out of the incubation assembly by the abutting portion includes: the mechanical hand in the third state pushing the sample container loaded with the detected sample at least partially out of the incubation assembly by the abutting portion.

[0027] In other embodiments of the present application, the incubation assembly has a plurality of incubation holes for storing the sample containers;

[0028] When the incubation hole is empty, the controller is further configured to control the mechanical hand in the first state and clamping the sample container to move, so that the sample container is partially inserted into the incubation hole, and the mechanical hand is switched from the first state to the third state after the sample container is partially inserted into the incubation hole;

[0029] The pushing of the sample container loaded with the sample to be incubated into the incubation assembly by the abutting portion of the mechanical hand in the third state includes: the mechanical hand in the third state pushing the sample container to continue moving in a moving-in direction to an incubation position in the incubation hole by the abutting portion;

[0030] The controller is further configured to control the mechanical hand to switch from the third state to the second state after the sample container moves to the incubation position.

[0031] In other embodiments of the present application, the sample container has a first posture and a second posture, an axis of the sample container in the first posture is parallel to a vertical direction, an axis of the sample container in the second posture is parallel to a horizontal direction, and an axis of the incubation hole is parallel to the horizontal direction;

[0032] The controller is further configured to control the mechanical hand clamping the sample container from the sample loading assembly and in the first posture to rotate, so that the sample container is switched to the second posture.

[0033] When the incubation hole is empty, the controller is further configured to control the mechanical hand in the first state to move the sample container to partially insert into the incubation hole.

[0034] In other embodiments of the present application, the incubation assembly has a plurality of incubation holes for storing the sample containers;

[0035] When the incubation hole has the sample container, the controller is further configured to control the mechanical hand to switch from the second state to the third state and to store the sample container in the incubation position into the accommodation space;

[0036] The mechanical hand in the third state pushes the sample container loaded with the detected sample out of the incubation assembly by the abutting part, including: the mechanical hand in the third state pushes the sample container loaded with the detected sample partially out of the incubation hole by the abutting part, switches from the third state to the first state to clamp the sample container after the sample container is partially out of the incubation hole, and continues to move in the direction of separation until the sample container is completely out of the incubation hole after clamping the sample container.

[0037] In other embodiments of the present application, the sample container has a first attitude and a second attitude, the sample container has an axis parallel to the vertical direction when in the first attitude, and has an axis parallel to the horizontal direction when in the second attitude, and the axis of the incubation hole is parallel to the horizontal direction;

[0038] When the sample container in the second attitude is completely out of the incubation hole, the controller is further configured to control the mechanical hand clamping the sample container in the second attitude to rotate to switch the sample container to the first attitude, and to control the mechanical hand to transfer the sample container in the first attitude to the recycling assembly.

[0039] In other embodiments of the present application, the incubation assembly has a plurality of incubation holes for storing the sample containers;

[0040] When the incubation hole has the sample container, the controller is further configured to control the mechanical hand to switch from the second state to the third state and to store the sample container in the incubation position into the accommodation space;

[0041] The mechanical hand in the third state pushes the sample container loaded with the detected sample out of the incubation assembly by the abutting part, comprising: the mechanical hand in the third state pushes the sample container loaded with the detected sample completely out of the incubation hole by the abutting part.

[0042] The controller is further configured to switch from the third state to the first state to clamp the sample container after the sample container is completely out of the incubation hole.

[0043] In other embodiments of the present application, the mechanical hand has a first state for clamping the sample container and a second state for releasing the sample container, a first opening degree of the mechanical hand in the first state is smaller than a second opening degree of the mechanical hand in the second state, and each clamping part clamps the outer circumferential surface of the bottle body section when the mechanical hand is in the first state, and each clamping part is separated from the outer circumferential surface of the bottle body section when the mechanical hand is in the second state.

[0044] The pushing of the sample container into the incubation assembly by the abutting part comprises: the mechanical hand kept in the first state pushes the sample container loaded with the sample to be incubated into the incubation assembly by the abutting part.

[0045] And / or, the pushing of the sample container out of the incubation assembly by the abutting part comprises: the mechanical hand kept in the first state pushes the sample container loaded with the detected sample out of the incubation assembly by the abutting part.

[0046] In other embodiments of the present application, when the mechanical hand is in the first state, the projection of the abutting part in a reference plane perpendicular to the axis of the sample container partially overlaps the projection of the transition section in the reference plane.

[0047] And / or, when the mechanical hand is in the second state, the projection of the abutting part in a reference plane perpendicular to the axis of the sample container is located outside the projection of the bottle mouth section in the reference plane.

[0048] And / or, when the mechanical hand is in the third state, the projection of the abutting part in a reference plane perpendicular to the axis of the sample container partially overlaps the projection of the transition section in the reference plane.

[0049] In other embodiments of the present application, the incubation assembly further comprises an elastic structure arranged in the incubation hole, when the sample container is placed in the incubation position of the incubation hole, the elastic structure is elastically deformed and abuts against the outer circumferential surface of the bottle body section, so as to keep the sample container in the incubation hole.

[0050] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0051] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0052] Figure 1 A schematic diagram of the module of the microbial detection system in the embodiments of the present application;

[0053] Figure 2 A perspective view of the mechanical hand clamping the sample container in the embodiments of the present application;

[0054] Figure 3 A front view of the sample container applicable to the present application;

[0055] Figure 4 A front view of the mechanical hand clamping the sample container in the first state in the embodiments of the present application;

[0056] Figure 5 A front view of the mechanical hand clamping the sample container in the third state in the embodiments of the present application;

[0057] Figure 6 A front view of the mechanical hand releasing the sample container in the second state in the embodiments of the present application;

[0058] Figure 7 A top view of the mechanical hand clamping the sample container in the first state in the embodiments of the present application;

[0059] Figure 8 A schematic diagram of the mechanical hand moving the sample container in the second posture into the horizontal incubation hole in the embodiments of the present application.

[0060] REFERENCE NUMERALS:

[0061] Microbial detection system 1;

[0062] Sample loading assembly 10;

[0063] Incubation assembly 20, incubation hole 21;

[0064] Detection assembly 30;

[0065] Recovery assembly 40;

[0066] transport assembly 50;

[0067] robotic hand 100, accommodation space 101, gripper 110, clamping portion 111, abutting portion 112, clamping surface 113;

[0068] sample container 200, mouth section 210, opening portion 211, cap 212, transition section 220, neck section 221, first abutting surface 222, second abutting surface 223, body section 230. DETAILED DESCRIPTION

[0069] Embodiments of the present application are described below by way of example with reference to the accompanying drawings. Like or similar elements or components throughout the drawings are denoted by the same reference numerals, and repeated explanation of these elements or components is omitted. The embodiments described below are merely exemplary and are used to explain the present application, and should not be construed as limiting the present application.

[0070] In the description of the present application, it should be understood that the relative or positional relationship indicated by the orientation description, such as upper, lower, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0071] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0072] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0073] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0074] The present application provides a microorganism detection system 1, which can culture microorganisms and detect the culture of the microorganisms, with reference to Figure 1 The microorganism detection system 1 in the embodiments of the present application includes a sample loading assembly 10, an incubation assembly 20, a detection assembly 30, a recovery assembly 40, a transfer assembly 50, and a controller. For the convenience of understanding, the components of the microorganism detection system 1 and the main working modes thereof will be described first.

[0075] The sample loading assembly 10 is used to receive a sample container 200, which contains a sample and a growth medium. The sample loading assembly 10, the incubation assembly 20, the detection assembly 30, the recovery assembly 40, the transfer assembly 50, and the controller are all located in a housing assembly. In some embodiments, the inner cavity of the housing assembly includes a sample loading cavity and an incubation cavity that are in communication with each other. On the one hand, the housing assembly can play a role in safety protection. On the other hand, the housing assembly can also help maintain an environment suitable for the growth of microorganisms inside it (e.g., in the incubation cavity).

[0076] The incubation assembly 20 is located in the incubation cavity of the housing assembly and is used to receive the sample container 200 transferred by the transfer assembly 50 so that the sample in the sample container 200 can be incubated in the incubation cavity. In some embodiments, the incubation assembly 20 includes a plurality of incubation holes 21. One end of each incubation hole 21 is an inlet for the sample container 200 to be inserted, and the other end is a detection port for the detection assembly 30 to detect the growth of microorganisms in the sample container 200. In some embodiments, the sample container 200 is placed horizontally in the incubation hole 21 with its bottom facing the detection port. In other embodiments, the incubation assembly 20 can also be provided with a mixing mechanism that can drive the sample container 200 to move so that the sample and the growth medium in the sample container 200 can be mixed thoroughly. In some specific embodiments, the incubation assembly 20 includes an incubation rack, an incubation block, and an incubation driving mechanism. The incubation block is provided with a plurality of incubation holes 21 and is rotatably connected to the incubation rack by a horizontally arranged rotating shaft. The incubation driving mechanism can drive the incubation block to swing back and forth around the rotating shaft, thereby realizing batch mixing of a plurality of sample containers 200.

[0077] The detection assembly 30 is used to detect the growth of microorganisms in the sample container 200 placed in the incubation assembly 20, so that the controller can determine whether the growth of microorganisms meets the standard based on the detection result of the detection assembly 30. In some embodiments, the detection assembly 30 detects based on the colorimetric method. For example, the inside of the sample container 200 (specifically, the bottom thereof) is provided with a color developing element that changes color according to the growth of microorganisms in the sample container 200. The detection assembly 30 can detect the growth of microorganisms by detecting the color change of the color developing element. In other embodiments, the detection assembly 30 can also detect based on the fluorescence of microorganisms.

[0078] The recovery assembly 40 is configured to receive the sample containers 200 loaded with the detected samples. Specifically, the recovery assembly 40 can further include a positive container storage assembly and a negative container storage assembly. The positive container storage assembly is configured to recover the positive containers (i.e., the sample containers 200 in which the microorganism grows up to the standard), and the positive containers in the positive container storage assembly will be taken away by the user for further culture or analysis. The negative container storage assembly is configured to recover the negative containers (i.e., the sample containers 200 in which the microorganism does not grow or does not grow up to the standard), and the negative containers in the negative container storage assembly will be taken away by the user and discarded.

[0079] The transfer assembly 50 is configured to transfer the sample containers 200, for example, to transfer the sample containers 200 from the loading assembly 10 to the incubation assembly 20, or to transfer the detected sample containers 200 from the incubation assembly 20 to the recovery assembly 40. It should be noted that the sample containers 200 “from the loading assembly 10” means that the sample containers 200 are sourced from the loading assembly 10, including the scheme that the transfer assembly 50 directly transfers the sample containers 200 from the loading assembly 10 to the incubation assembly 20, and including the scheme that the sample containers 200 are first transferred from the loading assembly 10 to a designated position by other transfer mechanisms, and then the sample containers 200 are transferred from the designated position to the incubation assembly 20 by the transfer assembly 50. Similarly, the sample containers 200 “to the recovery assembly 40” means that the destination of the sample containers 200 is the recovery assembly 40, including the scheme that the transfer assembly 50 directly transfers the sample containers 200 from the incubation assembly 20 to the recovery assembly 40, and including the scheme that the sample containers 200 are first transferred from the incubation assembly 20 to a designated position by other transfer mechanisms, and then the sample containers 200 are transferred from the designated position to the recovery assembly 40 by the transfer assembly 50. In some embodiments, the transfer assembly 50 includes a mechanical hand and a movement mechanism configured to drive the movement of the mechanical hand in a three-dimensional space. The mechanical hand is configured to hold the sample containers 200, and the movement mechanism includes a movement power mechanism configured to drive the movement of the mechanical hand along the X-axis, the Y-axis, and the Z-axis. In other embodiments, the movement mechanism can further include a rotation power mechanism configured to drive the rotation of the mechanical hand around a horizontal axis to rotate the sample containers 200 from a vertical posture to a horizontal posture.

[0080] A typical microorganism detection process is described as follows: a user sends the sample container 200 to the sample loading assembly 10, the transfer assembly 50 transfers the sample container 200 from the sample loading assembly 10 to the incubation assembly 20 for incubation, the detection assembly 30 continuously detects (for example, at a period of once every 10 minutes) the growth of microorganisms in the sample container 200 in the incubation assembly 20, for a positive container, the transfer assembly 50 transfers the positive container from the incubation assembly 20 to the positive container storage assembly, and for a negative container, the transfer assembly 50 transfers the negative container from the incubation assembly 20 to the negative container storage assembly.

[0081] There are two main grabbing methods for transferring sample containers by a mechanical hand in the related art, one of which is to grab the lower end face of the bottle opening part, and the other is to grab the outer peripheral surface of the bottle body part. The former has the problem of low positioning accuracy, which can easily cause the sample container to not be accurately placed into the incubation hole of the incubation module. The latter relies on friction to hold the culture bottle, and there is a risk of falling. On the other hand, when the sample container is inserted into a structure such as an incubation hole of an incubation block, there is a situation that the sample container cannot be inserted in place due to the obstruction of friction or elastic structures in the hole, which affects detection. Based on this, the present embodiment proposes a mechanical hand that can solve the above problems, which will be described below in combination with the drawings and specific embodiments.

[0082] Reference Figure 2 , Figure 3 First, the sample container 200 applicable to the present application is introduced. The sample container 200 includes a bottle opening section 210, a transition section 220, and a bottle body section 230 (the boundaries of the three sections are roughly divided by the dashed lines in Figure 3 The bottle opening section 210 specifically includes an opening part 211 having an opening and a cap 212 for closing the opening. The transition section 220 is connected between the opening part 211 and the bottle body section 230, and the outer diameter of the bottle opening section 210 is less than or equal to the outer diameter of the bottle body section 230. In the present embodiment, the outer diameter of the transition section 220 changes along the axial direction of the sample container 200, that is, a recessed part is formed at the position of the transition section 220 of the sample container 200. For example, the outer diameter of the part connecting the opening part 211 remains constant, and the outer diameter of the part connecting the bottle body section 230 gradually increases. For another example, the outer diameter of the part connecting the opening part 211 first gradually decreases, the outer diameter of the part connecting the bottle body section 230 gradually increases, and the two are connected by a part with a constant outer diameter. Figure 3 It is to be noted that the opening part 211, the transition section 220, and the bottle body section 230 are usually connected as an integral structure, and the cap 212 is a separate component connected to the opening part 211 by screw connection, clamping, or the like.

[0083] ReferenceFigures 4 to 6 The mechanical hand 100 of the embodiment includes at least two clamping jaws 110. For example, the mechanical hand 100 includes two clamping jaws 110 arranged oppositely, or the mechanical hand 100 includes three clamping jaws 110 arranged along the circumference of the sample container 200. The at least two clamping jaws 110 have clamping portions 111 for clamping the body section 230, and each clamping portion 111 forms a receiving space 101 for receiving the sample container 200. In addition, at least one clamping jaw 110 further has an abutting portion 112 extending into the receiving space 101. For example, as shown in Figure 4 each clamping jaw 110 has both the clamping portion 111 and the abutting portion 112. In other embodiments, each clamping jaw 110 has the clamping portion 111, but only part of the clamping jaws 110 has the abutting portion 112. In other embodiments, when the mechanical hand 100 includes more than three clamping jaws 110, part of the clamping jaws 110 have the clamping portion 111, and another part of the clamping jaws 110 have the abutting portion 112.

[0084] As shown in Figure 4 when the mechanical hand 100 clamps the body section 230, the abutting portion 112 is located between the mouth section 210 and the body section 230 and faces the transition section 220, and the distance between the abutting portion 112 and the axis of the sample container 200 is less than the outer diameter of the mouth section 210. In this way, the clamping portion 111 can be used to clamp the bottle body with high positioning accuracy, and at the same time, when the sample container 200 accidentally falls, the abutting portion 112 can be used to support the mouth section 210 to avoid further falling, thereby meeting the requirements of accuracy and reliability at the same time.

[0085] In addition, the mechanical hand 100 of the embodiment can also be used to push the sample container 200. Specifically, in some embodiments, when the mechanical hand needs to push the sample container 200 into the incubation assembly 20, the controller is configured to control the mechanical hand 100 to abut the sample container 200 loaded with samples to be incubated in the direction of the body section 230 through the abutting portion 112, so as to push the sample container 200 into the incubation assembly 20 through the abutting portion 112. For example, the abutting portion 112 abuts the transition section 220 and pushes the sample container 200 through the transition section 220. In this way, the problem that the sample container 200 cannot be completely inserted into place due to excessive friction between the sample container 200 and the incubation assembly 20 can be improved.

[0086] In some embodiments, when the robot needs to push the sample container 200 out of the incubation assembly 20, the controller is configured to control the robot 100 to abut against the sample container 200 loaded with the detected sample by the abutting portion 112 towards the bottle mouth segment 210, so as to push the sample container 200 out of the incubation assembly 20 by the abutting portion 112. For example, the abutting portion 112 abuts against the transition segment 220 and pushes the sample container 200 through the transition segment 220. In this way, the problem that the sample container 200 cannot be normally pulled out due to excessive friction between the sample container 200 and the incubation assembly 20 can be solved.

[0087] In summary, the clamping portion 111 and the abutting portion 112 are arranged in the embodiment, which can improve the clamping precision of the sample container 200 by the clamping portion 111, and can prevent the sample container 200 from falling and push the sample container 200 by the abutting portion 112, thereby facilitating the normal transfer of the sample container 200.

[0088] In the first embodiment, in some embodiments of the present application, referring to Figure 2 、 Figures 4 to 6 Each clamping jaw 110 includes the abutting portion 112 and at least two clamping portions 111. When the robot 100 clamps the bottle body segment 230, the at least two clamping portions 111 are distributed along the circumference of the bottle body segment 230, and each clamping portion 111 extends along the axis of the bottle body segment 230. In this way, the stability of clamping can be further improved by the clamping of the multiple clamping portions 111 distributed along the circumference. For example, the robot 100 includes two oppositely arranged clamping jaws 110, and each clamping jaw 110 includes two clamping portions 111 arranged side by side. The clamping portion 111 can be a vertical rod structure or other shapes. When the clamping portion 111 is arranged as a rod structure, a connecting rib can be arranged between the clamping portions 111 to increase the overall strength of the clamping jaw 110.

[0089] In a more specific embodiment, the clamping portion 111 has a first side facing the bottle body segment 230 when clamping the bottle body segment 230, and a second side opposite to the first side. Figure 7 For example, the left clamping portion 111 is taken as an example. The first side is the left side of the clamping portion 111, and the second side is the right side of the clamping portion 111. The clamping jaw 110 includes two clamping portions 111, and each clamping portion 111 is provided with a clamping surface 113 for clamping the sample container 200. The distance between the clamping surfaces of the two clamping portions 111 decreases in the direction from the first side to the second side, so as to adapt to the cylindrical bottle body segment 230 and automatically center, thereby further improving the clamping precision. For example, the clamping surface 113 is arranged as an inclined surface or an arc surface.

[0090] On the basis of the first embodiment, in some embodiments of the application, when the sample container 200 loaded with the detected sample (for the sake of description, hereinafter referred to as the detected sample container 200) is pushed out of the incubation assembly 20, the aforementioned "the controller controls the mechanical arm 100 to abut against the detected sample container 200 through the abutment portion 112 in the direction of the bottle mouth section 210" specifically means that the controller controls the mechanical arm 100 to abut against the transition section 220 of the detected sample container 200 through the abutment portion 112 in the direction of the bottle mouth section 210, so as to further push the sample container 200 out of the incubation assembly 20 through the transition section 220.

[0091] When the abutment portion 112 abuts against the transition section 220 to push the detected sample container 200 out, referring to Figure 3 , the transition section 220 further comprises a bottle neck section 221 and a first abutment surface 222, the outer diameter of the bottle neck section 221 is smaller than the outer diameter of the bottle mouth section 210, and the bottle neck section 221 is connected to the bottle mouth section 210 through the first abutment surface 222, that is, the outer diameter of the first abutment surface 222 changes along the axial direction of the sample container 200, for example, the outer diameter of the first abutment surface 222 increases in the direction from the bottle neck section 221 to the bottle mouth section 210, thereby forming an inverted conical abutment surface.

[0092] Based on the above structure, the aforementioned "the controller controls the mechanical arm 100 to abut against the detected sample container 200 through the abutment portion 112 in the direction of the bottle mouth section 210" specifically means that the controller controls the mechanical arm 100 to abut against the first abutment surface 222 of the sample container 200 through the abutment portion 112 in the direction of the bottle mouth section 210.

[0093] In some more specific embodiments, when the first abutment surface 222 forms an inverted conical abutment surface, the abutment portion 112 is provided with an inclined surface or an arc surface for abutting against the first abutment surface 222, the inclination of the inclined surface or the curvature of the arc surface is adapted to the first abutment surface 222, so that the abutment portion 112 can avoid directly abutting against the first abutment surface 222 through a sharp edge.

[0094] The aforementioned scheme of abutting the abutment portion 112 against the transition section 220 when the detected sample container 200 is pushed out of the incubation assembly 20, in another embodiment of the application, the abutment portion 112 can also abut against the bottle cap 212, specifically, the aforementioned "the controller controls the mechanical arm 100 to abut against the detected sample container 200 through the abutment portion 112 in the direction of the bottle mouth section 210" specifically means that the controller controls the mechanical arm 100 to abut against the bottle cap 212 of the detected sample container 200 through the abutment portion 112 in the direction of the bottle mouth section 210. Referring to Figure 3The outer diameter of the bottle cap 212 is greater than the outer diameter of the opening portion 211, so that the lower end surface of the bottle cap 212 forms a stepped surface, and then the abutting portion 112 can abut against the lower end surface of the bottle cap 212 to push the sample container 200.

[0095] It should be noted that in the embodiment, since the bottle cap 212 provides the abutting position, the outer diameter of the bottle mouth section 210 can be equal to or greater than that of the bottle neck section 221.

[0096] Based on the first embodiment, in some embodiments of the present application, when the sample container 200 loaded with the sample to be incubated (for the convenience of description, hereinafter referred to as the sample container 200 to be incubated) is pushed into the incubation assembly 20, the aforementioned "the controller controls the mechanical hand 100 to abut against the sample container 200 loaded with the sample to be incubated through the abutting portion 112 in the direction of the bottle body section 230" specifically means that the controller controls the mechanical hand 100 to abut against the transition section 220 of the sample container 200 through the abutting portion 112 in the direction of the bottle body section 230, so as to further push the sample container 200 into the incubation assembly 20 through the transition section 220. As described above, when the outer diameter of the bottle mouth section 210 is less than that of the bottle body section 230, since the transition section 220 is connected between the two, the transition section 220 has a part with an outer diameter greater than that of the bottle mouth section 210, and when the mechanical hand 100 clamps the bottle body section 230, the distance between the abutting portion 112 and the axis of the sample container 200 is less than the outer diameter of the bottle mouth section 210, so that it can be ensured that the abutting portion 112 can abut against the transition section 220 in the direction of the bottle body section 230.

[0097] When the abutting portion 112 abuts against the transition section 220 to push the sample container 200 to be incubated, referring to Figure 3 The transition section 220 includes the bottle neck section 221 and a second abutting surface 223. The outer diameter of the bottle neck section 221 is less than that of the bottle body section 230, and the bottle neck is connected to the bottle body section 230 through the second abutting surface 223, that is, the outer diameter of the second abutting surface 223 changes along the axis of the sample container 200. For example, the outer diameter of the second abutting surface 223 increases in the direction from the bottle neck section 221 to the bottle body section 230, so that a tapered abutting surface is formed.

[0098] Based on the above structure, the aforementioned "the controller controls the mechanical hand 100 to abut against the transition section 220 of the sample container 200 to be incubated through the abutting portion 112 in the direction of the bottle body section 230" specifically means that the controller controls the mechanical hand 100 to abut against the second abutting surface 223 of the sample container 200 through the abutting portion 112 in the direction of the bottle body section 230.

[0099] In some more specific embodiments, when the second abutting surface 223 forms a tapered abutting surface, the abutting portion 112 is provided with a bevel or an arc surface for abutting with the second abutting surface 223, the slope of the bevel or the curvature of the arc surface is adapted to the second abutting surface 223, so that the abutting portion 112 can avoid directly abutting the second abutting surface 223 through a sharp edge.

[0100] It should be noted that the abutting portion 112 can cooperate with the aforementioned first abutting surface 222 to prevent the sample container 200 from falling, or can cooperate with the bottle cap 212 to prevent the sample container 200 from falling.

[0101] On the basis of the first embodiment, in some embodiments of the present application, the mechanical hand 100 has a first state (as shown in Figure 4 ) for clamping the sample container 200 and a second state (as shown in Figure 6 ) for releasing the sample container 200, the first opening degree of the mechanical hand 100 in the first state is smaller than the second opening degree of the mechanical hand 100 in the second state, and each clamping portion 111 clamps the outer peripheral surface of the bottle body section 230 when the mechanical hand 100 is in the first state, at which time the mechanical hand 100 can clamp the sample container 200, and the abutting portion 112 is located between the bottle mouth section 210 and the bottle body section 230 to at least play a role of preventing falling; each clamping portion 111 is separated from the outer peripheral surface of the bottle body section 230 when the mechanical hand 100 is in the second state, and the distance between the abutting portion 112 and the axis of the sample container 200 is at least equal to or greater than the outer diameter of the bottle mouth section 210, at which time the mechanical hand 100 is separated from the sample container 200. For example, when the mechanical hand 100 is in the first state, the distance between the abutting portion 112 and the axis of the sample container 200 is smaller than the outer diameter of the bottle mouth section 210, and when the mechanical hand 100 is in the second state, the distance between the abutting portion 112 and the axis of the sample container 200 is greater than the outer diameter of the bottle mouth section 210.

[0102] In addition to the first state and the second state described above, the mechanical hand 100 in the present embodiment also has a third state (as shown in Figure 5 ), the third opening degree of the mechanical hand 100 in the third state is greater than the first opening degree and smaller than the second opening degree, at which time the abutting portion 112 of the mechanical hand 100 can still play the roles of preventing falling and pushing the sample container 200 to move, but the mechanical hand 100 does not clamp the sample container 200 completely, so that the sample container 200 can move radially and / or swing circumferentially relative to the mechanical hand 100. Specifically, at this time, the distance between the clamping portion 111 and the axis of the sample container 200 is greater than the outer diameter of the bottle body section 230, but the distance between the abutting portion 112 and the axis of the sample container 200 still remains smaller than the outer diameter of the bottle mouth section 210.

[0103] Based on the above structure, the aforementioned "the mechanical hand 100 pushes the sample container 200 loaded with the sample to be incubated into the incubation assembly 20 through the abutting portion 112" specifically refers to: the mechanical hand 100 in the third state pushes the sample container 200 loaded with the sample to be incubated into the incubation assembly 20 through the abutting portion 112. In this way, the sample container 200 is in a relatively flexible clamped state, and during the process of the sample container 200 entering the incubation assembly 20, even if the sample container 200 collides with the incubation assembly 20 due to its own skewing or the like, the sample container 200 can move to adaptively adjust, so as to avoid the sample container 200 from being stuck, or damaged due to excessive friction, or the incubation assembly 20, so that the moving-in step of the sample container 200 is more smooth.

[0104] In other embodiments, the aforementioned "the mechanical hand 100 pushes the sample container 200 loaded with the sample to be incubated into the incubation assembly 20 through the abutting portion 112" specifically refers to: the mechanical hand 100 in the third state pushes the sample container 200 loaded with the sample to be incubated into the incubation assembly 20 through the abutting portion 112. In this way, the sample container 200 is in a relatively flexible clamped state, and during the process of the sample container 200 entering the incubation assembly 20, even if the sample container 200 collides with the incubation assembly 20 due to its own skewing or the like, the sample container 200 can move to adaptively adjust, so as to avoid the sample container 200 from being stuck, or damaged due to excessive friction, or the incubation assembly 20, so that the moving-in step of the sample container 200 is more smooth.

[0105] When the mechanical hand 100 has the third state, in some embodiments of the present application, with reference to Figure 8 The incubation assembly 20 has a plurality of incubation holes 21 for storing sample containers 200. When a certain incubation hole 21 is vacant and needs to transfer the sample container 200 to be incubated into the incubation hole 21, the controller is further configured to control the mechanical hand 100 in the first state and clamping the sample container 200 to move, so that the sample container 200 is partially inserted into the incubation hole 21, and the mechanical hand 100 is switched from the first state to the third state after the sample container 200 is partially inserted into the incubation hole 21. At this time, the aforementioned "the mechanical hand 100 in the third state pushes the sample container 200 into the incubation assembly 20 through the abutting portion 112" specifically refers to: the mechanical hand 100 in the third state pushes the sample container 200 to continue moving into the incubation position in the incubation hole 21 along the moving-in direction through the abutting portion 112.

[0106] Specifically, the robot 100 is first kept in the first state to clamp the sample container 200, at this time the sample container 200 cannot move relative to the robot 100, which facilitates the movement of the robot 100 to align the sample container 200 with the inlet of the incubation well 21. Then the robot 100 drives the sample container 200 to partially enter the incubation well 21. It can be understood that when the sample container 200 is skewed, the deeper the insertion depth, the more likely it is to abut against the inner wall of the incubation well 21. Conversely, when the sample container 200 is partially inserted, it is not easy to touch the inner wall of the incubation well 21 even if there is skewing. It should be noted that the length of insertion can be adjusted according to requirements. After the sample container 200 is inserted to a certain length, the robot 100 is switched from the first state to the third state, at this time the sample container 200 can move radially relative to the robot 100 or swing circumferentially, and then the robot 100 further pushes the sample container 200 through the abutting portion 112 to further insert until it is inserted in place. In this way, through the above arrangement, the sample container 200 can be aligned with the incubation well 21, and the sample container 200 can be prevented from being stuck or damaged.

[0107] It should be noted that the embodiment does not limit the specific position of the abutting portion 112 on the transition section 220 when the robot 100 is in the first state. In some embodiments, when the robot 100 is switched from the first state to the third state, the abutting portion 112 has not yet abutted against the transition section 220 (for example, the second abutting surface 223 described above), at this time the robot 100 needs to move a certain distance towards the bottle body section 230 before the abutting portion 112 abuts against the transition section 220. In other embodiments, when the robot 100 is switched from the first state to the third state, the abutting portion 112 has already abutted against the transition section 220, at this time the robot 100 can directly push the sample container 200 to move.

[0108] In the embodiment, when the sample container 200 moves to the incubation position, the controller is further configured to control the robot 100 to switch from the third state to the second state, at this time the robot 100 can exit from the incubation well 21.

[0109] In some more specific embodiments, the sample container 200 has a first posture and a second posture, the sample container 200 is parallel to the vertical direction when it is in the first posture, and the sample container 200 is parallel to the horizontal direction when it is in the second posture, with reference to Figure 8, the axis of the incubation hole 21 is parallel to the horizontal direction, i.e. the sample container 200 is incubated in the second posture, and the sample container 200 is usually placed in the first posture when placed in the loading assembly 10 for the convenience of the user, therefore the mechanical hand 100 of the present embodiment can also adjust the angle of the sample container 200. Specifically, the controller of the present embodiment is also configured to control the mechanical hand 100 holding the sample container 200 from the loading assembly 10 in the first posture to rotate, so as to switch the sample container 200 to the second posture. For example, the mechanical hand 100 has a rotating driving assembly capable of driving the clamping jaw 110 to rotate around the horizontal axis in addition to the opening and closing driving assembly and the moving driving assembly for driving the clamping jaw 110 to open and close and move.

[0110] Based on the above structure, when the incubation hole 21 is empty, the aforementioned "the controller controls the mechanical hand 100 holding the sample container 200 in the first state to move, so as to partially insert the sample container 200 into the incubation hole 21" specifically means that the controller controls the mechanical hand 100 holding the sample container 200 in the second posture in the first state to move horizontally, so as to partially insert the sample container 200 in the second posture into the incubation hole 21.

[0111] When the mechanical hand 100 has the third state, in some embodiments of the present application, with reference to Figure 8 The incubation assembly 20 has a plurality of incubation holes 21 for storing sample containers 200. When a sample container 200 detected is placed in a certain incubation hole 21 and needs to be removed from the incubation hole 21, the controller is also configured to first control the mechanical hand 100 to switch from the second state to the third state and accommodate the sample container 200 in the incubation position into the accommodation space 101. For example, the mechanical hand 100 partially extends into the incubation hole 21 in the second state and makes the abutting portion 112 face the transition section 220, and then the mechanical hand 100 switches from the second state to the third state, so that the distance between the abutting portion 112 and the axis of the sample container 200 is less than the bottle mouth section 210.

[0112] On this basis, the aforementioned "the mechanical arm 100 in the third state pushes the sample container 200 loaded with the detected sample out of the incubation assembly 20 at least partially through the abutting portion 112" specifically refers to: the mechanical arm 100 in the third state pushes the sample container 200 loaded with the detected sample partially out of the incubation hole 21 through the abutting portion 112, switches from the third state to the first state to clamp the sample container 200 after the sample container 200 is partially out of the incubation hole 21, and continues to move in the disengaging direction until the sample container 200 is completely out of the incubation hole 21 after clamping the sample container 200. In the embodiment, the mechanical arm 100 is first in the third state to make the sample container 200 partially out of the incubation hole 21, so as to avoid the position where the sample container 200 is more likely to be stuck, and completely clamp the sample container 200 on the basis that the sample container 200 is still partially in the incubation hole 21. At this time, the incubation hole 21 still has a certain function of supporting the sample container 200.

[0113] In some more specific embodiments, the sample container 200 has a first posture and a second posture, the sample container 200 is parallel to the vertical direction when the sample container 200 is in the first posture, and the sample container 200 is parallel to the horizontal direction when the sample container 200 is in the second posture, referring to Figure 8 , the axis of the incubation hole 21 is parallel to the horizontal direction, that is, the sample container 200 is incubated in the second posture, and the sample container 200 is usually moved in the first posture during the process of transferring the sample container 200 from the incubation assembly 20 to the recovery assembly 40 in order to reduce the space occupied by the sample container 200 in the horizontal direction during movement. Therefore, the mechanical arm 100 of the embodiment can also adjust the angle of the sample container 200. Specifically, after the sample container 200 in the second posture is completely out of the incubation hole 21, the controller of the embodiment is further configured to control the mechanical arm 100 rotating to clamp the sample container 200 in the second posture, so as to switch the sample container 200 to the first posture, and control the mechanical arm 100 to transfer the sample container 200 in the first posture to the recovery assembly 40.

[0114] When the mechanical arm 100 has the third state, in some other embodiments of the application, referring to Figure 8 , the incubation assembly 20 has a plurality of incubation holes 21 for storing sample containers 200. When a detected sample container 200 is placed in a certain incubation hole 21 and needs to be moved out of the incubation hole 21, the controller of the embodiment is further configured to control the mechanical arm 100 to switch from the second state to the third state and to accommodate the sample container 200 in the incubation position into the containing space 101. This part can be understood with reference to the foregoing embodiment.

[0115] On this basis, the aforementioned "the mechanical arm 100 in the third state pushes the sample container 200 loaded with the detected sample out of the incubation assembly 20 through the abutting portion 112" specifically refers to: the mechanical arm 100 in the third state pushes the sample container 200 loaded with the detected sample completely out of the incubation hole 21 through the abutting portion 112. In addition, the controller of the present embodiment is also configured to switch from the third state to the first state to clamp the sample container 200 after the sample container 200 is completely out of the incubation hole 21. In this way, the problem of the sample container 200 being stuck or damaged during the exit process can be further avoided.

[0116] The aforementioned mechanical arm 100 in the third state pushes the sample container 200 in or out of the sample container 200, and in some embodiments of the present application, the mechanical arm 100 can only push the sample container 200 in or out of the sample container 200 in the first state. Specifically, in some embodiments, the aforementioned "the mechanical arm 100 pushes the sample container 200 loaded with the sample to be incubated into the incubation assembly 20 through the abutting portion 112" specifically refers to: the mechanical arm 100 in the first state pushes the sample container 200 loaded with the sample to be incubated into the incubation assembly 20 through the abutting portion 112. For example, the mechanical arm 100 clamps the sample container 200 in the first state and aligns the incubation hole 21, and then pushes the sample container 200 to the incubation position while maintaining the first state.

[0117] In other embodiments, the aforementioned "the mechanical arm 100 pushes the sample container 200 loaded with the detected sample out of the incubation assembly 20 through the abutting portion 112" specifically refers to: the mechanical arm 100 in the first state pushes the sample container 200 loaded with the detected sample out of the incubation assembly 20 through the abutting portion 112. For example, the mechanical arm 100 first extends into the incubation hole 21 in the second state, and then switches from the second state to the first state and maintains the first state to completely push the sample container 200 out.

[0118] In the above embodiments, since the mechanical arm 100 does not need to switch states in the middle, the speed of pushing in and out can be accelerated, which helps to improve efficiency.

[0119] When the mechanical arm 100 has the aforementioned first state, second state and / or third state, in some embodiments of the present application, with reference to Figure 4When the manipulator 100 is in the first state, on a reference plane perpendicular to the axis of the sample container 200 (for example, the reference plane is a horizontal plane when the sample container 200 is placed vertically), the projection of the abutting portion 112 in the reference plane partially overlaps the projection of the transition section 220 in the reference plane. For example, when the transition section 220 includes the bottle neck section 221 and the first abutting surface 222, the projection of the abutting portion 112 in the reference plane partially overlaps the projection of the first abutting surface 222 in the reference plane. In this way, the abutting portion 112 can cooperate with the first abutting surface 222 to prevent the sample container 200 from falling, and the first abutting surface 222 can also push the sample container 200. When the transition section 220 includes the bottle neck section 221 and the second abutting surface 223, the projection of the abutting portion 112 in the reference plane partially overlaps the projection of the second abutting surface 223 in the reference plane. In this way, the second abutting surface 223 can push the sample container 200.

[0120] In other embodiments, with reference to Figure 5 When the manipulator 100 is in the third state, on a reference plane perpendicular to the axis of the sample container 200, the projection of the abutting portion 112 in the reference plane partially overlaps the projection of the transition section 220 in the reference plane. For example, when the transition section 220 includes the bottle neck section 221 and the first abutting surface 222, the projection of the abutting portion 112 in the reference plane partially overlaps the projection of the first abutting surface 222 in the reference plane. In this way, the abutting portion 112 can cooperate with the first abutting surface 222 to prevent the sample container 200 from falling, and the first abutting surface 222 can also push the sample container 200. When the transition section 220 includes the bottle neck section 221 and the second abutting surface 223, the projection of the abutting portion 112 in the reference plane partially overlaps the projection of the second abutting surface 223 in the reference plane. In this way, the second abutting surface 223 can push the sample container 200.

[0121] It should be noted that the overlapping area of the projection of the abutting portion 112 and the transition section 220 in the third state is smaller than the overlapping area of the projection of the abutting portion 112 and the transition section 220 in the first state.

[0122] In other embodiments, with reference to Figure 6 When the manipulator 100 is in the second state, on a reference plane perpendicular to the axis of the sample container, the projection of the abutting portion 112 in the reference plane is located outside the projection of the mouth section 210 in the reference plane, so that the manipulator 100 can be freely separated from the sample container 200.

[0123] When the incubation assembly 20 comprises the incubation hole 21, in some embodiments of the present application, the incubation assembly 20 further comprises an elastic structure arranged in the incubation hole 21, when the sample container 200 is placed in the incubation position of the incubation hole 21, the elastic structure is elastically deformed and abuts against the outer circumferential surface of the bottle body section 230 to retain the sample container 200 in the incubation hole 21. For example, the elastic structure comprises a spring piece extending from the inner wall of the incubation hole 21, when the sample container 200 enters the incubation hole 21, it can abut against the end of the spring piece to push the spring piece to move, the elastic force provided by the spring piece can limit the sample container 200 from accidentally exiting the incubation hole 21, it should be noted that the elastic structure also increases the resistance of the sample container 200 entering the incubation hole 21 in a certain length, especially when the incubation hole 21 is placed horizontally, the power of the sample container 200 entering the incubation hole 21 will be completely provided by the mechanical hand 100, therefore, compared with the way of moving the sample container 200 by the friction force between the mechanical hand 100 and the sample container 200, the way of directly pushing by the abutting portion 112 can ensure the sample container 200 to smoothly enter or exit the incubation hole 21.

[0124] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A microbe detection system, characterized by, The application relates to a sample processing system, comprising: a sample loading assembly for receiving a sample container loaded with a sample, the sample container comprising a mouth section, a transition section and a body section arranged along an axis of the sample container, the mouth section comprising an opening part having an opening and a cap for closing the opening, the transition section being connected between the opening part and the body section, and an outer diameter of the mouth section being less than or equal to an outer diameter of the body section; an incubation assembly for incubating the sample in the sample container; a detection assembly for detecting growth of microorganisms in the sample in the sample container placed in the incubation assembly; a sample recovery assembly for receiving the sample container loaded with the detected sample; a transfer assembly for transferring the sample container from the sample loading assembly to the incubation assembly or from the incubation assembly to the sample recovery assembly, the transfer assembly comprising a robot hand, the robot hand comprising at least two grippers, each of the at least two grippers having a gripping portion for gripping the body section, each of the gripping portions forming a receiving space for receiving the sample container, at least one of the grippers further having an abutting portion extending into the receiving space, the abutting portion being located between the mouth section and the body section and towards the transition section when the robot hand grips the body section, and a distance between the abutting portion and an axis of the sample container being less than the outer diameter of the mouth section; a controller; wherein the controller is configured to control the robot hand to abut the sample container loaded with the sample to be incubated by the abutting portion towards the body section for pushing the sample container into the incubation assembly by the abutting portion; or the controller is configured to control the robot hand to abut the sample container loaded with the detected sample by the abutting portion towards the mouth section for pushing the sample container out of the incubation assembly by the abutting portion. Each of the grippers comprises the abutting portion and at least two gripping portions, the at least two gripping portions being spaced apart along a circumferential direction of the body section when the robot hand grips the body section, wherein each of the gripping portions extends along an axial direction of the body section.

2. The microbial detection system of claim 1, wherein, The gripping portion has a first side towards the body section when gripping the body section, and a second side opposite to the first side, the gripper comprises two gripping portions provided with gripping surfaces for gripping the sample container, a distance between the gripping surfaces of the two gripping portions decreases in a direction from the first side to the second side.

3. The microbial detection system of claim 2, wherein, The control of the robot hand to abut the sample container loaded with the detected sample by the abutting portion towards the mouth section comprises: controlling the robot hand to abut the transition section or the cap of the sample container by the abutting portion towards the mouth section; or the control of the robot hand to abut the sample container loaded with the sample to be incubated by the abutting portion towards the body section comprises: controlling the robot hand to abut the transition section of the sample container by the abutting portion towards the body section.

4. The microbial detection system of claim 1, wherein, ​ ​ 5. The microbial detection system of claim 4, wherein, The transition section comprises a bottleneck section and a first abutting surface, an outer diameter of the bottleneck section is smaller than an outer diameter of the mouth section, and the bottleneck is connected to the mouth section through the first abutting surface; the control of the mechanical arm abutting the transition section of the sample container through the abutting portion in the direction of the mouth section comprises: control of the mechanical arm abutting the first abutting surface of the sample container through the abutting portion in the direction of the mouth section. The transition section comprises a bottleneck section and a second abutting surface, an outer diameter of the bottleneck section is smaller than an outer diameter of the body section, and the bottleneck is connected to the body section through the second abutting surface; the control of the mechanical arm abutting the transition section of the sample container through the abutting portion in the direction of the body section comprises: control of the mechanical arm abutting the second abutting surface of the sample container through the abutting portion in the direction of the body section.

6. The microbial detection system of claim 5, wherein, The outer diameter of the first abutting surface increases in the direction from the bottleneck section to the mouth section, and the abutting portion is provided with a slope or an arc surface for abutting the first abutting surface. The outer diameter of the second abutting surface increases in the direction from the bottleneck section to the body section, and the abutting portion is provided with a slope or an arc surface for abutting the second abutting surface.

7. The microbial detection system of claim 1, wherein, The mechanical arm has a first state for clamping the sample container and a second state for releasing the sample container, a first opening degree of the mechanical arm in the first state is smaller than a second opening degree of the mechanical arm in the second state, and each clamping portion clamps the outer peripheral surface of the body section when the mechanical arm is in the first state; each clamping portion is separated from the outer peripheral surface of the body section when the mechanical arm is in the second state. The mechanical arm also has a third state, a third opening degree of the mechanical arm in the third state is greater than the first opening degree and smaller than the second opening degree, and each clamping portion is separated from the outer peripheral surface of the body section when the mechanical arm is in the third state, and the sample container can move radially relative to the mechanical arm and / or swing in the circumferential direction. The pushing of the sample container into the incubation assembly through the abutting portion comprises: the mechanical arm in the third state pushes the sample container loaded with the sample to be incubated into the incubation assembly through the abutting portion. The pushing of the sample container out of the incubation assembly through the abutting portion comprises: the mechanical arm in the third state pushes the sample container loaded with the detected sample at least partially out of the incubation assembly through the abutting portion.

8. The microbial detection system of claim 7, wherein, The incubation assembly has a plurality of incubation holes for storing the sample containers. When the incubation hole is empty, the controller is further configured to control the mechanical arm in the first state and clamping the sample container to move, so that the sample container is partially inserted into the incubation hole, and the controller switches from the first state to the third state after the sample container is partially inserted into the incubation hole. The mechanical arm in the third state pushes the sample container loaded with the sample to be incubated into the incubation assembly through the abutting part, comprising: the mechanical arm in the third state pushes the sample container to continue moving in the moving-in direction to an incubation position in the incubation hole through the abutting part; The controller is further configured to control the mechanical arm to switch from the third state to the second state when the sample container moves to the incubation position.

9. The microbial detection system of claim 8, wherein, The sample container has a first attitude and a second attitude, the axis of the sample container in the first attitude is parallel to the vertical direction, and the axis of the sample container in the second attitude is parallel to the horizontal direction, and the axis of the incubation hole is parallel to the horizontal direction; The controller is further configured to control the mechanical arm holding the sample container from the upper sample assembly and in the first attitude to rotate, so as to switch the sample container to the second attitude. When the incubation hole is empty, the controller controls the mechanical arm in the first state and holding the sample container to move, so that the sample container is partially inserted into the incubation hole, comprising: controlling the mechanical arm in the first state and holding the sample container in the second attitude to move horizontally, so that the sample container in the second attitude is partially inserted into the incubation hole.

10. The microbial detection system of claim 7, wherein, The incubation assembly has a plurality of incubation holes for storing the sample container; When the incubation position in the incubation hole has the sample container, the controller is further configured to control the mechanical arm to switch from the second state to the third state and accommodate the sample container in the incubation position into the accommodation space; The mechanical arm in the third state pushes the sample container loaded with the sample to be incubated into the incubation assembly through the abutting part, comprising: the mechanical arm in the third state pushes the sample container to continue moving in the moving-in direction to an incubation position in the incubation hole through the abutting part; 11. The microbial detection system of claim 10, wherein, The sample container has a first attitude and a second attitude, the axis of the sample container in the first attitude is parallel to the vertical direction, and the axis of the sample container in the second attitude is parallel to the horizontal direction, and the axis of the incubation hole is parallel to the horizontal direction; When the sample container in the second attitude is completely separated from the incubation hole, the controller is further configured to control the mechanical arm holding the sample container in the second attitude to rotate, so as to switch the sample container to the first attitude, and control the mechanical arm to transfer the sample container in the first attitude to the recycling assembly.

12. The microbial detection system of claim 7, wherein, The incubation assembly has a plurality of incubation holes for storing the sample container; When the incubation position in the incubation well is provided with the sample container, the controller is further configured to control the mechanical hand to switch from the second state to the third state and to receive the sample container located at the incubation position into the accommodation space; The mechanical hand in the third state pushes the sample container loaded with the detected sample at least partially out of the incubation assembly through the abutting portion, including: the mechanical hand in the third state pushes the sample container loaded with the detected sample completely out of the incubation well through the abutting portion; The controller is further configured to switch from the third state to the first state to clamp the sample container after the sample container is completely out of the incubation well.

13. The microbial detection system of claim 1, wherein, The mechanical hand has a first state for clamping the sample container and a second state for releasing the sample container, a first opening degree of the mechanical hand in the first state is smaller than a second opening degree of the mechanical hand in the second state, and each clamping portion clamps the outer peripheral surface of the body section when the mechanical hand is in the first state, and each clamping portion is separated from the outer peripheral surface of the body section when the mechanical hand is in the second state; The pushing of the sample container into the incubation assembly through the abutting portion includes: the mechanical hand in the first state pushes the sample container loaded with the sample to be incubated into the incubation assembly through the abutting portion; And / or, the pushing of the sample container out of the incubation assembly through the abutting portion includes: the mechanical hand in the first state pushes the sample container loaded with the detected sample out of the incubation assembly through the abutting portion.

14. The microbial detection system of any one of claims 7 to 12, wherein, When the mechanical hand is in the first state, the projection of the abutting portion in a reference plane perpendicular to the axis of the sample container partially overlaps the projection of the transition section in the reference plane; And / or, when the mechanical hand is in the second state, the projection of the abutting portion in a reference plane perpendicular to the axis of the sample container is located outside the projection of the mouth section in the reference plane; And / or, when the mechanical hand is in the third state, the projection of the abutting portion in a reference plane perpendicular to the axis of the sample container partially overlaps the projection of the transition section in the reference plane.

15. The microbial detection system of any one of claims 8 to 12, wherein, The incubation assembly further comprises an elastic structure arranged in the incubation well, when the sample container is placed at the incubation position of the incubation well, the elastic structure is elastically deformed and abuts against the outer peripheral surface of the body section to retain the sample container in the incubation well.

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