WO2024250533A1 - Sample processing system - Google Patents

Abstract

A sample processing system (1000), comprising a reaction station (100). The reaction station (100) comprises: a first machine table (110); a feeding frame (121), which is configured to place a container (510) thereon; a first manipulator (130), which is arranged on a first platform (111); a switch cover module (140), which is configured, for a bottle body (511) and a bottle cap (512) of the container (510) that are moved by means of the first manipulator (130), to separate the bottle body from the bottle cap or cover the bottle body with the bottle cap; a powder adding module (151), which is configured to add a powder into the bottle body (511) after same and the bottle cap (512) are moved by means of the first manipulator (130) and same is separated from the bottle cap; a solution adding module (160), which is configured to add a solution into the bottle body (511) after the powder is added in the bottle body; and a reaction module, which is configured to carry out a reaction experiment on the solution in the container (510) after the container is moved by means of the first manipulator (130) and is covered and closed. By means of the sample processing system (1000), synthesis reaction of a powder and a solution can be realized, and the whole experiment can realize automatic operation, such that labor cost is reduced, the experiment efficiency is improved, and an experiment error can be reduced.

Description

Sample handling system

This application claims the priority of the Chinese patent application filed with the China Patent Office on June 9, 2023, with application number 202310688783.6 and application name “Sample Processing System”, the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the technical field of experimental equipment, and in particular to a sample processing system.

Background Art

In the chemical reagent preparation, drug research and development and other industries, it is usually necessary to mix powders with solutions for reaction. The current experimental process mainly relies on manual operation by experimenters, with low automation level, high labor costs, low efficiency and large experimental errors.

Summary of the invention

The purpose of this application is to provide a sample processing system to solve the problems of low automation level, high labor cost, low efficiency and large experimental error in manual operation.

To achieve the purpose of this application, this application provides the following technical solutions:

The present application provides a sample processing system, including a reaction station, which includes: a first machine station, having a first platform; a loading rack, arranged on the first platform, for placing containers; a first manipulator, arranged on the first platform; a switch cover module, arranged on the first platform, for separating or capping the bottle body and bottle cap of the container moved by the first manipulator; a powder adding module, arranged on the first platform, for adding powder to the bottle body after the bottle cap is separated and moved by the first manipulator; a liquid adding module, arranged on the first platform, for adding solution to the bottle body after the powder is added; and a reaction module, arranged on the first platform, for performing a reaction experiment on the solution in the capped container moved by the first manipulator.

In one embodiment, the switch cover module includes a bottle body clamping assembly, a bottle cap clamping assembly and a first driving member, the bottle body clamping assembly is arranged on the first platform, the bottle cap clamping assembly is arranged on the side of the bottle body clamping assembly facing away from the first platform, the bottle body clamping assembly is used to clamp and fix the bottle body, the bottle cap clamping assembly is used to clamp and fix the bottle cap, and the first driving member is used to drive the bottle body clamping assembly and/or the bottle cap clamping assembly to rotate so as to separate or cover the bottle body and the bottle cap; the bottle body clamping assembly and the bottle cap clamping assembly can move relative to each other in relative directions.

In one embodiment, the powder adding module includes a powder adding component and a weighing component, the weighing component is arranged on the first platform and is used to place the bottle body after the bottle cap is separated, the powder adding component is used to add powder into the bottle body, and determine the amount of powder added according to the weighing result of the weighing component; the weighing component is movable on the first platform, and/or the powder adding component is movable in a direction perpendicular to the first platform; the powder adding module also includes a protective cover, the powder adding component and the weighing component are covered inside by the protective cover, and the side of the protective cover facing the first manipulator is an openable and closable structure.

In one embodiment, the liquid adding module includes a first driving pump, a first valve and a liquid adding needle, wherein the first driving pump is used to extract solution from a solution bottle, the first valve connects the first driving pump and the liquid adding needle and is used to control whether the solution extracted by the first driving pump flows into the liquid adding needle, the first manipulator is also used to move the liquid adding needle, The filling needle is used to add solution into the bottle.

In one embodiment, the liquid adding module further includes a cleaning member, which is arranged on the first platform, and the cleaning member is provided with a first accommodating channel and a first waste liquid flow channel, the first accommodating channel is opened from the surface of the cleaning member facing away from the first platform to the interior of the cleaning member, the first accommodating channel is used to accommodate the needle body of the liquid adding needle, the first waste liquid flow channel is opened from the side of the cleaning member to communicate with the first accommodating channel, and with the first platform as a reference, the opening of the first waste liquid flow channel on the surface of the cleaning member is higher than the bottom wall of the first accommodating channel; the cleaning member is also provided with a second accommodating channel and a second waste liquid flow channel, the second accommodating channel is opened from the surface of the cleaning member facing away from the first platform to the interior of the cleaning member, the second accommodating channel and the first accommodating channel are spaced, the second accommodating channel is used to accommodate the needle body of the liquid adding needle, the second waste liquid flow channel is opened from the side of the cleaning member to communicate with the bottom of the second accommodating channel, and with the first platform as a reference, the opening of the second waste liquid flow channel on the surface of the cleaning member is not higher than the position where the second accommodating channel is connected to the second waste liquid flow channel.

In one embodiment, the liquid adding module includes a pipette, which is detachably connected to the first manipulator. The first manipulator is used to move the pipette to the Tip head placement position so that the pipette is connected to the Tip head. The pipette is used to automatically aspirate or spit liquid through the Tip head and automatically retract the Tip head.

In one embodiment, the reaction module includes at least one of a first stirring component, a second stirring component and an oscillation component, the first stirring component is used to stir the solution and provide a first temperature range, the second stirring component is used to stir the solution and provide a second temperature range, the first temperature range and the second temperature range are different, and the oscillation component is used to oscillate the solution and provide a third temperature range.

In one embodiment, the reaction station further includes a cache rack, which is disposed on the first platform. The loading rack and the cache rack are both provided with a plurality of tray placement positions, the tray placement positions are used to place and limit trays, and the containers are used to be placed on the trays.

In one embodiment, the reaction station further includes a tray clamp and a container clamp, the first manipulator is detachably connected to the tray clamp and the container clamp, the tray clamp is used to clamp the tray, and the container clamp is used to clamp the container in the tray.

In one embodiment, the reaction station further includes a barcode scanning module, which is disposed on the first platform. A barcode is disposed on the tray and/or container, and the barcode scanning module is used to scan and identify the barcode.

In one embodiment, the reaction station also includes a powder barrel rack, which is arranged on the first platform, and the powder barrel rack is provided with a plurality of powder barrel placement positions, the powder barrel placement positions are used to place and limit the powder barrels, and the powder barrels are used to hold powder; the first manipulator is used to move the powder barrel to the powder adding module, and the powder adding module is used to add the powder in the powder barrel to the bottle body.

In one embodiment, the reaction station further includes a visual module, which is disposed on the first platform. The first manipulator is used to move the container after the reaction module performs a reaction experiment to the visual module, and the visual module is used to take a photo of the container.

In one embodiment, the visual module includes a surface light source, an annular light source, a first camera and a second camera, the light emitting surface of the surface light source is located in the vertical direction, the optical axis of the first camera is perpendicular to the light emitting surface of the surface light source, the central axis of the annular light source is located in the vertical direction, and the second camera is located between the annular light source and the first platform; the first camera is used to take a side photo of the container, and the second camera is used to take a bottom photo of the container; the optical axis of the first camera does not intersect with the optical axis of the second camera.

In one embodiment, a calibration plate is further provided on the side of the surface light source facing the first camera, the calibration plate is light-transmissive, parallel to the light-emitting surface of the surface light source, and can move in a direction parallel to the light-emitting surface.

In one embodiment, the optical axis of the second camera coincides with the central axis of the annular light source, or an optical reflector is provided between the annular light source and the first platform, and the optical reflector is used to reflect the light of the central axis of the annular light source to coincide with the optical axis of the second camera.

In one embodiment, the first manipulator is located in the middle position of the first platform, and the loading rack, the switch cover module, the powder adding module, the liquid adding module and the reaction module are arranged around the first manipulator; wherein, one side of the switch cover module is adjacent to the powder adding module, the other side of the switch cover module is adjacent to the reaction module, the side of the powder adding module away from the switch cover module is adjacent to the liquid adding module, and the side of the reaction module away from the switch cover module is adjacent to the loading rack.

In one embodiment, the sample processing system also includes an analysis station, which includes: a second machine having a second platform; a second manipulator disposed on the second platform; an analyzer disposed on the second platform, and the second manipulator is used to place the solution that has completed the reaction in the reaction station and transported to the analysis station into the analyzer for analysis.

In one embodiment, the sample processing system also includes a transfer module, which connects the first platform and the second platform and is used to transport the solution that has completed the reaction in the reaction station to the analysis station; the transfer module includes a transmission component and a carrying component arranged on the transmission component, the transmission component is used to drive the carrying component to move, and the carrying component is used to place a container.

In one embodiment, the reaction station further includes an air blowing module, which is disposed on the first platform and is used to blow inert gas into the solution before the reaction and/or blow inert gas into the solution to be transported to the analysis station; the air blowing module is disposed close to the switch cover module.

In one embodiment, the inflation module includes a first support seat, an inflation member, a third driving member, a first lifting and rotating assembly and a first head withdrawal mechanism, the first support seat is arranged on the first platform, the inflation member, the third driving member and the first lifting and rotating assembly are arranged on the first support seat, the third driving member is connected to the first lifting and rotating assembly to drive the first lifting and rotating assembly to perform lifting and rotating movements, the first lifting and rotating assembly is used to connect to the inflation head, the inflation member is connected to the inflation head for inflating air into the inflation head, and the first head withdrawal mechanism is used to separate the inflation head from the first lifting and rotating assembly.

In one embodiment, the reaction station also includes a sampling module, which is arranged on the first platform. The sampling module is provided with a sampling bottle. The sampling module is used to absorb the solution from the container after the reaction and transfer it to the sampling bottle to complete the sampling of the solution; the sampling module is arranged close to the switch cover module.

In one embodiment, the sampling module includes a second support seat, a second drive pump, a fourth drive member, a second lifting and rotating assembly and a second head withdrawal mechanism, the second support seat is arranged on the first platform, the second drive pump, the fourth drive member and the second lifting and rotating assembly are arranged on the second support seat, the fourth drive member is connected to the second lifting and rotating assembly to drive the second lifting and rotating assembly to perform lifting and rotating movements, the second lifting and rotating assembly is used to connect with the Tip head, the second drive pump is connected to the Tip head, the second drive pump is used to provide positive pressure or negative pressure to the Tip head so that the Tip head absorbs or spits liquid, and the second head withdrawal mechanism is used to separate the Tip head from the second lifting and rotating assembly.

In one embodiment, the reaction station further includes a filtration module, which is disposed on the first platform and is used to absorb and filter the solution in the sampling bottle.

In one embodiment, the analysis station further includes a mobile module, the mobile module is disposed on the second platform, the second manipulator is disposed on the mobile module, and the mobile module is used to drive the second manipulator to move so as to increase the range of movement of the second manipulator.

In one embodiment, the analysis station further comprises a recovery module, the recovery module comprises a recovery pipe and a recovery box, the second platform is provided with a floor drain hole, the recovery box is arranged below the second platform, the recovery pipe is passed through the floor drain hole, and the recovery box is arranged below the floor drain hole. The leakage hole is connected to the recovery box.

In one embodiment, the sample processing system further includes a mobile robot, and the mobile robot is used to pick up and place containers on the loading rack.

The sample processing system provided in the present application is provided with a reaction station, and the reaction station includes a first machine, a loading rack, a first manipulator, a cover opening and closing module, a powder adding module, a liquid adding module and a reaction module. The first manipulator moves the container to realize the cover opening and closing operations, and the first manipulator moves the bottle body to realize the powder adding operation and the liquid adding operation, and transfers the obtained mixed solution to the reaction module for a reaction experiment, thereby realizing the synthesis reaction of the powder and the solution. The entire experiment can be realized in an automated operation, which improves the automation level, reduces the labor cost of manual operation, improves the experimental efficiency, and can reduce the experimental error.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a perspective view of a sample processing system according to an embodiment;

FIG2 is a perspective view of a partial structure of a sample processing system according to an embodiment;

FIG3 is a plan view of a partial structure of a sample processing system according to an embodiment;

FIG4 is a perspective view of a switch cover module according to an embodiment;

FIG5 is a perspective view of a liquid adding module according to an embodiment;

FIG6 is a perspective view of a liquid adding needle according to an embodiment;

FIG7 is a perspective view of a cleaning member according to an embodiment;

FIG8 is a perspective view of a visual module according to an embodiment;

FIG9 is a perspective view of a visual module according to another embodiment;

FIG10 is a perspective view of an air blowing module according to an embodiment;

FIG. 11 is a three-dimensional diagram of a sampling module according to an embodiment.

Description of reference numerals:
1000-sample processing system;
100-reaction station, 101-tray, 102-powder barrel tray; 110-first machine, 111-first platform, 112-door, 113-
Monitoring screen, 114-exhaust vent, 121-loading rack, 122-buffer rack, 123-tool rack, 124-powder barrel rack; 130-first manipulator, 140-switch cover module, 141-bottle body clamping assembly, 142-bottle cap clamping assembly, 143-first driving member, 144-switch cover bracket, 151-powder adding module, 1511-protective cover, 152-code scanning module, 153-filtering module, 154-first stirring assembly, 155-second stirring assembly, 160-liquid adding module, 161-mounting bracket, 162-pipeline limiter, 163-liquid adding needle, 1631-base plate, 1632-needle body, 1633-liquid adding pipe joint, 1634-interface, 163 5-handling head, 164-support bracket, 165-cleaning member, 166-first accommodating channel, 167-first waste liquid flow channel, 168-second accommodating channel, 169-second waste liquid flow channel; 170-visual module, 171-surface light source, 172-annular light source, 173-first camera, 174-second camera, 175-base, 176-calibration plate, 177-optical reflector, 180-air blowing module, 181-first support seat, 182-air blowing member, 183-third driving member, 184-first lifting and rotating assembly, 190-sampling module, 191-second support seat, 192-second driving pump, 193-fourth driving member, 194-second lifting and rotating assembly;
200-analysis station, 210-second machine, 211-second platform, 220-second manipulator, 230-analyzer, 240-mobile module, 250-recovery module;
300-transfer module, 310-transmission component, 320-carrying component;
400-support table;
510- container, 511- bottle body, 512- bottle cap, 520- solution bottle, 530- tip head, 540- sampling bottle.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and/or" used in this application includes any and all combinations of one or more related listed items.

In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to Figures 1 to 3. An embodiment of the present application provides a sample processing system 1000, including a reaction station 100, which includes a first machine 110, a loading rack 121, a first robot 130, a switch cover module 140, a powder adding module 151, a liquid adding module 160 and a reaction module.

The first machine 110 is generally a frame structure, which can be a structure constructed by a plurality of horizontal beams, vertical beams, etc., and the horizontal beams and vertical beams are connected by plates; the first machine 110 can also be a structure directly constructed by a plurality of plates. The first machine 110 encloses a receiving cavity, which can accommodate various experimental equipment, instruments, power supply and electronic control equipment, experimental consumables, etc.

The first machine 110 has a first platform 111. The first platform 111 has a plane that is roughly parallel to the horizontal plane. The plane is used to place other components. In the following text, when a component is placed on the first platform 111, unless otherwise specified, it means that it is placed on the plane. The first platform 111 can be located in the middle of the first machine 110 and can be composed of a plate. Various installation and fixing positions can be set on the first platform 111, which can be holes, grooves, protrusions, etc., without limitation.

The first platform 111 divides the accommodating chamber in the first machine 110 into two upper and lower chambers. The upper chamber is used to accommodate experimental instruments and tools, and the lower chamber can be used to accommodate power supply and electronic control equipment, waste consumables, etc.

At least one plate around the first machine 110 can be set as a closable door 112, and the door 112 can be a rotating door or a sliding door. A handle can be set on the door 112 to facilitate the experimenter to open and close the door 112. There can be multiple doors 112, which can be set on at least one side around the first machine 110. The multiple doors 112 can be conveniently opened from different positions to conduct experiments, observations, maintenance, etc. The door 112 can have a door closing detection function. When the door 112 is not closed in place, an alarm can be sounded to facilitate the experimenter to close the door in place. The door 112 can also have a function that requires permission to open, so as to facilitate the permission management of the experimenter and protect the safety of the equipment. The functions implemented by the above-mentioned door 112 can be implemented by any feasible solution without limitation.

The panels around the first machine 110 (which may be on the door 112 ) may be at least partially transparent structures, so that the experimenter or the monitoring camera can observe the situation inside the first machine 110 through the transparent structures.

A monitoring screen 113 may be provided on the periphery of the first machine 110. The monitoring screen 113 is used to display information related to the experiment. The experimenter can view the working status of each device through the monitoring screen 113 and/or input instructions to control the operation of the device. An exhaust port 114 may also be provided on the top of the first machine 110 to connect with the exhaust device to dehumidify the interior of the first machine 110. Exhaust, etc.

The loading rack 121 is arranged on the first platform 111, and is used to place the container 510. The structure of the loading rack 121 may be a frame structure, and a plate placed approximately horizontally may be provided on the frame, and the container 510 may be placed on the plate. The loading rack 121 may be placed on the first platform 111, and may also be fixed to the first platform 111 by a fastening structure such as screws. The loading rack 121 may be provided with multiple layers of plates, and each layer of plates may carry the container 510. The loading rack 121 may be arranged close to the door 112 of the first machine 110, so that the experimenter or the mobile robot can place the container 510 on the loading rack 121 when the door 112 is opened. The container 510 may specifically be a test tube, a reagent bottle, a beaker, a flask, etc., without limitation. The container 510 has a bottle body 511 and a bottle cap 512. When no material is loaded in the container 510, the bottle cap 512 is covered on the bottle body 511. The bottle cap 512 can be connected to the bottle body 511 by a thread or by a plug, and the specific details are not limited. The container 510 can be placed directly on the loading rack 121, or it can be placed on the tray 101 first, and then the tray 101 is placed on the loading rack 121, that is, the container 510 is placed on the loading rack 121 through the tray 101. In addition, the loading rack 121 can also be used to place various consumables required for experiments, such as Tip heads, filter heads, syringes, etc., and various consumables can be placed on the loading rack 121 through the tray.

The first manipulator 130 is arranged on the first platform 111. The first manipulator 130 can be fixed on the first platform 111, and the end of the first manipulator 130 away from the first platform 111 can be used to grab the container 510 or parts, without limitation. The first manipulator 130 can be a manipulator with three-axis, four-axis, or six-axis movement, without limitation. The driving structure on the first manipulator 130 is also not limited, as long as the first manipulator 130 can move in multiple directions in the chamber above the first platform 111 of the first machine 110 to achieve functions such as transportation. Optionally, a male connector can be provided at one end of the first manipulator 130 away from the first platform 111. When connecting with other parts (such as various types of grippers), the male connector can be quickly installed and disassembled with the female connector on other parts, that is, the male connector and the female connector are universal parts, so that the first manipulator 130 can quickly connect with other parts and switch different parts.

The switch cover module 140 is disposed on the first platform 111, and is used to separate or cover the bottle body 511 and the bottle cap 512 of the container 510 moved by the first robot 130. The specific structure of the switch cover module 140 is not limited, and its function is to open or close the cover.

The powder adding module 151 is disposed on the first platform 111, and is used to add powder into the bottle body 511 after the bottle cap 512 is separated and moved by the first manipulator 130. The specific structure of the powder adding module 151 is not limited, and its function is to be able to perform the powder adding operation. The powder can be set as needed, and the specific composition of the powder is not limited.

The liquid adding module 160 is disposed on the first platform 111, and is used to add solution to the bottle body 511 after the powder is added. The specific structure of the liquid adding module 160 is not limited, and its function is to be able to perform liquid adding operation. The solution can be set as needed, and the specific composition of the solution is not limited.

The reaction module is disposed on the first platform 111. After the bottle cap 512 and the bottle body 511 are covered to form a container 510 by the switch cover module 140, the reaction module is used to perform a reaction experiment on the solution in the container 510 moved by the first manipulator 130. The specific structure of the reaction module is not limited. The function of the reaction module is to mix the solution with the powder and then stir, oscillate, etc., so that the powder and the solution can react fully.

Optionally, the first manipulator 130 is located in the middle of the first platform 111, and the loading rack 121, the switch cover module 140, the powder adding module 151, the liquid adding module 160 and the reaction module are arranged around the first manipulator 130; wherein one side of the switch cover module 140 is adjacent to the powder adding module 151, the other side of the switch cover module 140 is adjacent to the reaction module, the side of the powder adding module 151 away from the switch cover module 140 is adjacent to the liquid adding module 160, and the side of the reaction module away from the switch cover module 140 is adjacent to the loading rack 121. In this way, multiple modules are arranged with the first manipulator 130 as the center, so that the first manipulator 130 can move between multiple modules and realize the required functions; in addition, the arrangement of the positions between modules can save the time required for the first manipulator 130 to transfer samples between modules, which is conducive to improving the experimental efficiency.

The sample processing system 1000 of the embodiment of the present application, wherein the workflow of the reaction station 100 is as follows: the experimenter opens the door 112 of the first machine 110, manually places the empty container 510 on the loading rack 121, and closes the door 112; the first manipulator 130 moves the container 510 to the switch cover module 140 to separate the bottle cap 512 of the container 510 from the bottle body 511, and the bottle cap 512 can remain at the switch cover module 140; the first manipulator 130 moves the bottle body 511 to the powder adding module 151 for adding powder; the first manipulator 130 moves the bottle body 511 to the liquid adding module 160 for adding liquid; the first manipulator 130 moves the bottle body 511 to the switch cover module 140 to cover the bottle cover 512 on the bottle body 511, so that the powder and solution in the container 510 are in a closed space; the first manipulator 130 moves the container 510 to the reaction module, and the reaction module mixes the powder and solution in the container 510 to accelerate the reaction, thereby completing the reaction process of the sample.

The sample processing system 1000 provided in the embodiment of the present application is provided with a reaction station 100, and the reaction station 100 includes a first machine 110, a loading rack 121, a first manipulator 130, a cover opening and closing module 140, a powder adding module 151, a liquid adding module 160 and a reaction module. The first manipulator 130 moves the container 510 to realize the cover opening and closing operations, and the first manipulator 130 moves the bottle body 511 to realize the powder adding operation and the liquid adding operation. The container 510 realizes the mixing operation at the reaction module, so that the synthesis reaction of the powder and the solution can be realized. The whole process can be realized by automated operation, which improves the automation level, reduces the labor cost of manual operation, improves the experimental efficiency, and can reduce the experimental error.

In one embodiment, please refer to Figures 2 to 4, the switch cover module 140 includes a bottle body clamping assembly 141, a bottle cap clamping assembly 142 and a first driving member 143. The bottle body clamping assembly 141 is disposed on the first platform 111, and the bottle cap clamping assembly 142 is disposed on the side of the bottle body clamping assembly 141 facing away from the first platform 111. The bottle body clamping assembly 141 is used to clamp and fix the bottle body 511, and the bottle cap clamping assembly 142 is used to clamp and fix the bottle cap 512. The first driving member 143 is used to drive the bottle body clamping assembly 141 and/or the bottle cap clamping assembly 142 to rotate, so that the bottle body 511 and the bottle cap 512 are separated or covered.

Optionally, both the bottle body clamping assembly 141 and the bottle cap clamping assembly 142 may have a movable clamping head, which can expand outward or retract inward. When the clamping head expands outward, it encloses a larger space for placing or removing the object to be clamped (i.e., the bottle body 511 or the bottle cap 512); when the clamping head retracts inward, it encloses a smaller space for clamping the object to be clamped. The movement of the clamping head can be achieved by structures such as motors, without limitation. There are no excessive restrictions on the specific structures of the bottle body clamping assembly 141 and the bottle cap clamping assembly 142, as long as the clamping and loosening actions can be achieved.

Optionally, the switch cover module 140 may include a switch cover bracket 144, which is disposed on the first platform 111, and the bottle body clamping assembly 141 is disposed on the switch cover bracket 144, that is, the bottle body clamping assembly 141 is disposed on the first platform 111 through the switch cover bracket 144. Alternatively, the bottle body clamping assembly 141 may also be directly disposed on the first platform 111.

Optionally, the bottle cap clamping assembly 142 may also be disposed on the cover switch bracket 144. Alternatively, the bottle cap clamping assembly 142 may be disposed at other positions of the first platform 111, and moved to the side of the bottle body clamping assembly 141 facing away from the first platform 111 when the cover needs to be opened and closed.

The first driving member 143 can be a stepper motor or other driving structure, without limitation. The present embodiment is described for the bottle body 511 and the bottle cap 512 to be screwed together. Optionally, the first driving member 143 can be arranged in the bottle body clamping assembly 141, for driving the bottle body 511 clamped by the bottle body clamping assembly 141 to rotate, and the bottle cap clamping assembly 142 can only do the action of clamping the bottle cap 512, then the bottle body 511 rotates the bottle cap 512 to fix it, and the bottle cap 512 can be separated from the bottle body 511 to realize the uncapping operation. Optionally, the first driving member 143 can also be arranged in the bottle cap clamping assembly 142, for driving the bottle cap 512 clamped by the bottle cap clamping assembly 142 to rotate, and the bottle body clamping assembly 141 can only do the action of clamping the bottle body 511, then the bottle cap 512 rotates the bottle body 511 to fix it, and the bottle cap 512 can be separated from the bottle body 511 to realize the uncapping operation. Optionally, the bottle body clamping assembly 141 and the bottle cap clamping assembly 142 may both be provided with a first driving member 143, and respectively used to drive the bottle body 511 and the bottle cap 512 to rotate in the opposite direction, and also to separate the bottle cap 512 from the bottle body 511 to realize the opening operation. When closing the cover, the above-mentioned opening action is reversed, that is, the bottle body 511 and the bottle cap 512 rotate in the opposite direction relative to the rotation direction of opening the cover, and the cover can be closed.

In other embodiments, when the bottle body 511 and the bottle cap 512 are plugged together, the bottle body clamping assembly 141 and After the bottle cap clamping assembly 142 clamps the bottle body 511 and the bottle cap 512, the first driving member 143 can pull the bottle body 511 and/or the bottle cap 512 in opposite directions along the axis of the bottle body 511 to pull the bottle body 511 and the bottle cap 512 apart to achieve the opening operation. When closing the cap, the above-mentioned opening action is reversed, and the bottle body 511 and the bottle cap 512 move in the opposite direction relative to the moving direction of opening the cap, that is, the bottle body 511 and the bottle cap 512 move in a direction close to each other, and the cap can be closed.

The specific structure and implementation method of the first driving member 143 driving the bottle body clamping assembly 141 and the bottle cap clamping assembly 142 to open and close the cap are not specifically limited, and any feasible structure and implementation method can be used.

By providing the bottle body clamping assembly 141 and the bottle cap clamping assembly 142, the bottle body 511 and the bottle cap 512 can be clamped and loosened, and then through the driving action of the first driving member 143, the bottle body clamping assembly 141 and the bottle cap clamping assembly 142 drive the bottle body 511 and the bottle cap 512 to rotate or move relative to each other, thereby realizing the operation of opening and closing the cap. The structure is simple and easy to implement.

Optionally, the bottle body clamping assembly 141 and the bottle cap clamping assembly 142 can move relative to each other in opposite directions.

For the rotary cover opening and closing method, when opening the cover, the bottle cap 512 gradually withdraws from the bottle mouth during the process from being screwed on the bottle body 511 to being loosened, that is, the bottle cap 512 and the bottle body 511 are displaced in the direction away from each other; when closing the cover, the bottle cap 512 and the bottle body 511 are displaced in the direction of approaching each other during the process from being in contact with the bottle body 511 to being gradually screwed on. For the plug-type cover opening and closing method, during the process of opening and closing the cover, the bottle cap 512 and the bottle body 511 need to move in the direction away from each other to open the cover, and move in the direction of approaching each other to close the cover. Therefore, during the process of opening and closing the bottle cap 512 and the bottle body 511, in order to make the bottle cap 512 cover the bottle body 511 or the bottle cap 512 withdraw from the bottle mouth, relative movement between the bottle cap 512 and the bottle body 511 is required.

In this embodiment, by setting the bottle body clamping assembly 141 and the bottle cap clamping assembly 142 to be relatively movable in relative directions, power for relative movement of the bottle cap 512 and the bottle body 511 can be provided, or the freedom for relative movement of the bottle cap 512 and the bottle body 511 can be provided. In the case of providing power, according to the bottle body 511 and/or the bottle cap 512 to be moved as needed, a corresponding power mechanism is provided on the corresponding bottle body clamping assembly 141 and/or the bottle cap clamping assembly 142 to drive the clamping head that clamps the bottle body 511 and the bottle cap 512 to move. In the case of providing freedom, according to the bottle body 511 and/or the bottle cap 512 to be moved as needed, a corresponding guide mechanism, a buffer mechanism, etc. are provided on the corresponding bottle body clamping assembly 141 and/or the bottle cap clamping assembly 142 to provide a guide or buffering effect when the clamping head that clamps the bottle body 511 and the bottle cap 512 moves.

It should be understood that the relative movement of the bottle cap 512 and the bottle body 511 can be achieved by fixing one of the bottle cap 512 and the bottle body 511 in relative directions and moving the other in relative directions, or by moving both the bottle cap 512 and the bottle body 511 in relative directions.

Optionally, the first manipulator 130 is further used to move the bottle cap clamping assembly 142 to align with the bottle body clamping assembly 141 , and the first driving member 143 is disposed on the bottle body clamping assembly 141 to drive the bottle body clamping assembly 141 to rotate relative to the bottle cap clamping assembly 142 .

In this embodiment, the bottle body clamping assembly 141 is fixed to the first platform 111, the male connector of the first manipulator 130 is connected to the female connector on the bottle cap clamping assembly 142, and the bottle cap clamping assembly 142 is moved from its placement position to align with the bottle body clamping assembly 141. After the two clamp the bottle body 511 and the bottle cap 512 respectively, the bottle cap clamping assembly 142 remains fixed, and the first driving member 143 on the bottle body clamping assembly 141 is actuated to drive the bottle body 511 to rotate relative to the bottle cap 512, so as to realize the opening and closing of the cover. By adopting the method of fixing the bottle body 511 to rotate with the bottle cap 512, the size of the bottle body 511 is larger than the bottle cap 512, which is more convenient to operate.

Among them, a tool rack 123 may be provided on the first platform 111, and the tool rack 123 is used to place various tools. The bottle cap clamping assembly 142 can be placed on the tool rack 123 as a cap opening and closing tool, and then removed from the tool rack 123 by the first manipulator 130 when needed, and then placed back on the tool rack 123 after use. The tool rack 123 may also be a frame structure, and various placement positions may be provided on the tool rack 123 to facilitate the placement of various tools. Various tools are placed on the placement positions on the tool rack 123, and the placement positions can limit the tools to ensure stable support. Various tools have female connectors to facilitate quick connection and disassembly with the male connector of the first manipulator 130. The tool rack 123 can be directly set on the first platform 111, or it can be It is mounted on the top of the loading rack 121, which is not limited here.

In one embodiment, please refer to Figures 2 and 3, the powder adding module 151 includes a powder adding component and a weighing component. The weighing component is arranged on the first platform 111 and is used to place the bottle body 511 after the bottle cap 512 is separated. The powder adding component is used to add powder into the bottle body 511 and determine the amount of powder added according to the weighing result of the weighing component.

The specific structures of the powder adding component and the weighing component are not limited. The powder adding component can add powder into the bottle body 511, and the weighing component can weigh the added powder to achieve quantitative addition of the powder. The weight of the added powder can be preset. When the powder adding component adds the powder, the weighing component feeds back the weight of the powder in real time. When the weight of the added powder reaches the preset weight of the powder, the powder adding component stops the powder adding operation.

The powder adding module 151 may also include a protective cover 1511. The powder adding component and the weighing component may be covered by the protective cover 1511 and arranged inside. The protective cover 1511 is used to block the interference of the external wind and static electricity on the powder adding component and the weighing component, so as to prevent the wind or static electricity from blowing away the powder or static electricity from adsorbing it to other positions instead of falling into the bottle body 511, thereby improving the powder adding accuracy. The side of the protective cover 1511 facing the first manipulator 130 is set as an openable and closable structure. The opening and closing method may be lifting and lowering, translating and opening and closing, or rotating and opening and closing, etc., without limitation. The side of the protective cover 1511 may be opened by the openable and closable structure, so that the first manipulator 130 can move the bottle body 511 to the internal weighing component, and remove the bottle body 511 after adding the powder.

Optionally, the reaction station 100 further includes a powder barrel rack 124, which is provided with a plurality of powder barrel placement positions, which are used to place and limit powder barrels, and the powder barrels are used to contain powder; the first manipulator 130 is used to move the powder barrel to the powder adding module 151, and the powder adding module 151 is used to add the powder in the powder barrel to the bottle body 511. The powder barrel rack 124 is arranged on the first platform 111. The first manipulator 130 is used to move the powder barrel from the powder barrel rack 124 to the powder adding assembly, and the powder adding assembly is used to add the powder stored in the powder barrel to the bottle body 511. The powder barrel also has an opening that can be opened and closed. When the powder adding assembly adds powder, the powder adding assembly opens the opening of the powder barrel, and the powder leaks from the powder barrel into the bottle body 511 through the opening. The powder barrel can be placed on the powder barrel tray 102 first, and then the powder barrel tray 102 is placed at the powder barrel placement position of the powder barrel rack 124. The first manipulator 130 is used to move the powder barrel tray 102. The structure of the powder barrel tray 102 is not limited. The powder barrel placement position of the powder barrel rack 124 can limit the powder barrel tray 102 so that the powder barrel tray 102 is stably placed on the powder barrel rack 124. The powder barrel tray 102 can also limit the powder barrel so that the powder barrel is stably placed on the powder barrel tray 102. The structure of the powder barrel rack 124 can be the same as or similar to that of the loading rack 121. The powder barrel rack 124 can be arranged side by side with the loading rack 121 on the first platform 111, and both are arranged close to the warehouse door 112, so that it is convenient for the experimenter or the mobile robot to load and unload on the powder barrel rack 124 and the loading rack 121.

Optionally, the weighing assembly is movable on the first platform 111. The weighing assembly moves on the plane of the first platform 111, which can be conveniently aligned with the powder adding assembly, so that the bottle mouth of the bottle body 511 is aligned with the position where the powder leaks out. In addition, when one side of the protective cover 1511 is opened, the weighing assembly can be moved to the opened side, so that the first manipulator 130 can place the bottle body 511 on the weighing assembly. When the feeding is completed, the weighing assembly can also be moved to the opened side, so that the first manipulator 130 can take away the bottle body 511.

Optionally, the powder adding assembly is movable in a direction perpendicular to the first platform 111 , so that the bottle body 511 and the powder barrel can be moved closer to or farther away from each other to facilitate powder adding and weighing operations.

In one embodiment, please refer to Figures 2, 3, 5 and 6, the liquid adding module 160 includes a first driving pump, a first valve and a liquid adding needle 163, the first driving pump is used to extract solution from the solution bottle 520, the first valve connects the first driving pump and the liquid adding needle 163, and is used to control whether the solution extracted by the first driving pump flows into the liquid adding needle 163, the first manipulator 130 is also used to move the liquid adding needle 163, and the liquid adding needle 163 is used to add solution to the bottle body 511.

The liquid adding module 160 may include a mounting bracket 161 and a pipeline stopper 162. The mounting bracket 161 is disposed on the first platform 111. The mounting bracket 161 may be provided with various mounting positions and pipeline perforations. The first driving pump and the first valve may be mounted on the mounting bracket 161. At the corresponding installation position on the frame 161, the first driving pump and the first valve can be connected through a pipeline, and the first valve and the liquid adding needle 163 can also be connected through a pipeline. The first driving pump can also extend into the solution bottle 520 through a pipeline. The solution bottle 520 contains the solution required for the reaction, so that the first driving pump can extract the solution in the solution bottle 520 and can be transported to the liquid adding needle 163 through the control of the first valve to add the solution to the bottle body 511, thereby completing the liquid adding operation. The pipeline between the first valve and the liquid adding needle 163 can be limited by the pipeline limiter 162 to prevent multiple pipelines from being entangled with each other and affecting the movement and liquid addition of the liquid adding needle 163.

The liquid adding module 160 also includes a support bracket 164, which is arranged on the first platform 111, and the support bracket 164 is arranged adjacent to the mounting bracket 161, and the support bracket 164 is used to place the liquid adding needle 163. The number of the liquid adding needle 163 can be multiple, and the number of the solution bottle 520 is also multiple, each solution bottle 520 carries different solutions, and the multiple liquid adding needles 163 correspond to the multiple solution bottles 520 one by one. The first driving pump can be one or more, and the first valve can be one or more. When the first driving pump is one, the first valve can be one, and it is a multi-way multi-pass valve, so that different solutions are switched through the switches of different valve ports of the first valve to be delivered to the corresponding liquid adding needle 163; when the first driving pump is multiple, the first valve can also be multiple, and the number can be the same as the number of the liquid adding needle 163, so that the first driving pump, the first valve and the liquid adding needle 163 correspond to each other. In a specific embodiment, the first valve has multiple interfaces, and the multiple interfaces are respectively connected to the solution bottle 520, the liquid adding needle 163 and the first driving pump. The first driving pump may be one of a plunger pump, a syringe pump, a diaphragm pump, a peristaltic pump, etc. The first valve may be one of an electric valve, a pneumatic valve, a hydraulic valve, etc. Preferably, the first valve is a solenoid valve.

The structure of the liquid adding needle 163 is not limited. Optionally, referring to FIG. 5 and FIG. 6 , the liquid adding needle 163 may include a substrate 1631, a needle body 1632, a liquid adding pipe joint 1633 and a handling head 1635. The substrate 1631 is used as a structural foundation. When placed on the support bracket 164, the substrate 1631 contacts the support bracket 164, and the support bracket 164 limits the substrate 1631. The needle body 1632 is connected to one side surface of the substrate 1631, and the side surface of the substrate 1631 facing away from the needle body 1632 is connected to the liquid adding pipe joint 1633 and the handling head 1635. The interface 1634 of the liquid adding pipe joint 1633 is connected to the first valve through a pipeline, and the interface 1634 is connected to the needle body 1632. The first manipulator 130 can clamp and move the handling head 1635, so that the first manipulator 130 can drive the liquid adding needle 163 to move.

The first platform 111 may be provided with a plurality of bosses and other placement positions for placing the bottle body 511 or the tray 101, etc. After the first manipulator 130 takes the bottle body 511 from the powder adding module 151, it may be placed at the placement position on the first platform 111, and then the first manipulator 130 may move the liquid adding needle 163 to the position where the bottle body 511 is placed, insert the needle into the bottle mouth, and open the first driving pump and the first valve to inject the solution into the bottle body 511. According to the type and volume of the solution to be reacted, one or more liquid adding needles 163 may be selected to perform one or more liquid adding operations.

In one embodiment, please refer to Figures 5 to 7, the liquid adding module 160 also includes a cleaning part 165, the cleaning part 165 is arranged on the first platform 111, and the cleaning part 165 is provided with a first accommodating channel 166 and a first waste liquid flow channel 167, the first accommodating channel 166 is opened from the surface of the cleaning part 165 facing away from the first platform 111 to the inside of the cleaning part 165, the first accommodating channel 166 is used to accommodate the needle body 1632 of the liquid adding needle 163, the first waste liquid flow channel 167 is opened from the side of the cleaning part 165 to be connected with the first accommodating channel 166, and with the first platform 111 as a reference, the opening of the first waste liquid flow channel 167 on the surface of the cleaning part 165 is higher than the bottom wall of the first accommodating channel 166.

When adding liquid, it is usually necessary to replace one solution with another one. In order to avoid contamination of the adding needle 163, the adding needle 163 needs to be cleaned before adding liquid again. In this embodiment, after the first driving pump finishes pumping one solution, the first manipulator 130 drives the needle body 1632 of the adding needle 163 to insert into the first receiving channel 166, and the first driving pump switches to pumping another solution. The other solution flows to the needle body 1632 to clean the inner wall of the needle body 1632. The other solution flowing out of the needle body 1632 gradually fills the first receiving channel 166 until the liquid level reaches the first waste liquid flow channel 167, that is, the other solution in the first receiving channel 166 has a higher liquid level height, and the needle body 1632 is immersed in the other solution, which can clean the outer wall of the needle body 1632. The first waste liquid flow channel 167 can be connected to the waste liquid bottle through a pipeline, and the liquid flowing from the first waste liquid flow channel 167 can be cleaned by the needle body 1632. The solution flows into the waste bottle for storage.

Optionally, please refer to Figures 5 to 7, the cleaning member 165 is further provided with a second accommodating channel 168 and a second waste liquid flow channel 169, the second accommodating channel 168 is opened from the surface of the cleaning member facing away from the first platform 111 to the interior of the cleaning member 165, the second accommodating channel 168 and the first accommodating channel 166 are spaced apart, the second accommodating channel 168 is used to accommodate the needle body 1632 of the liquid adding needle 163, the second waste liquid flow channel 169 is opened from the side of the cleaning member 165 to be connected with the bottom of the second accommodating channel 168, and with the first platform 111 as a reference, the opening of the second waste liquid flow channel 169 on the surface of the cleaning member 165 is not higher than the position where the second accommodating channel 168 and the second waste liquid flow channel 169 are connected.

When only the inner wall of the needle body 1632 of the liquid-filling needle 163 needs to be cleaned, the needle body 1632 can be inserted into the second accommodating channel 168. After the solution flows out of the needle body 1632, it directly flows into the waste liquid bottle from the second waste liquid channel 169 without accumulating in the second accommodating channel 168, thereby not contaminating the outer wall of the needle body 1632.

Optionally, the needle body 1632 can be first inserted into the second accommodating channel 168 to clean the inner wall, and then inserted into the first accommodating channel 166 to clean the inner wall and the outer wall, so that the cleaning effect is better.

1, 2 and 3, a support platform 400 may be further provided outside the first machine 110, and the support platform 400 is used to place various solution bottles 520, and the pipeline connected to the first valve may extend from the first machine 110 and extend into each solution bottle 520. In this way, the space inside the first machine 110 can be saved.

Optionally, one of the solution bottles 520 may contain a cleaning solution. After the addition operation of all the solutions is completed, the cleaning solution may be transported to the cleaning part 165 to clean the needle body 1632 of the addition needle 163. The addition operation of the addition needle 163 is then stopped until the next experiment.

By setting up the liquid adding module 160, the liquid adding operation and the operation of cleaning the needle body 1632 of the liquid adding needle 163 can be automatically realized. Liquid adding and cleaning can be realized with one set of structure, which saves parts, makes the equipment structure more compact and occupies less space.

In another embodiment, the liquid adding module 160 includes a pipette, which is detachably connected to the first manipulator 130. The first manipulator 130 is used to move the pipette to the Tip head placement position so that the pipette is connected to the Tip head 530 (pipette tip, sampling head). The pipette is used to automatically aspirate or spit liquid through the Tip head 530, and automatically retract the Tip head 530.

The structure of the pipette is not limited. Optionally, the pipette also has a female connector for quick connection and disassembly with the male connector of the first manipulator 130. The pipette can be placed on the aforementioned tool rack 123, and the first platform 111 can also be provided with a Tip head rack, and the Tip head rack is provided with a Tip head 530. The pipette can be provided with a second drive member and a piston, and the second drive member can drive the piston to perform telescopic movement. The first manipulator 130 is connected with the pipette and drives the pipette to move. After the pipette moves to be connected with the Tip head 530, the pipette moves to the solution bottle 520, and the Tip head 530 is inserted into the solution bottle 520, and the second drive member drives the piston to retract, so that the Tip head 530 absorbs liquid, and then the pipette moves to the bottle body 511 and the Tip head 530 is inserted into the bottle mouth of the bottle body 511, and the second drive member drives the piston to extend, so that the Tip head 530 spits liquid, and completes a pipetting operation. When a different solution needs to be replaced, the Tip head 530 used for the last liquid aspiration needs to be withdrawn and replaced with a new Tip head 530, and the pipette automatically withdraws the Tip head 530 through its own withdrawing mechanism, and the specific structure of the withdrawing mechanism is not limited. The above process is then repeated to complete the liquid adding operation, and the first manipulator 130 moves the pipette back to the tool rack 123 for storage until the next liquid adding operation is required.

Compared with the operation of the aforementioned liquid adding needle 163, the tip head 530 of the present embodiment is disposable, and no cleaning operation is required. The tip head 530 after use can be discarded into the waste box. In practical applications, a liquid adding module 160 with a liquid adding needle 163 and a liquid adding module 160 with a pipette can be set at the same time, and a suitable liquid adding module 160 is selected according to the capacity of the added solution. Specifically, since the liquid adding needle 163 is directly connected to the solution bottle 520, liquid addition can be continuously performed, and the capacity of the tip head 530 is limited, for example, 1ml-5ml, and only a small amount of solution can be added each time. If the amount of the same solution to be added is large, the liquid adding module 160 with the liquid adding needle 163 can be used for continuous liquid addition. If the amount of each solution added is small, the liquid adding module 160 with a pipette can be selected to reduce the steps of cleaning, and the process is simpler.

Furthermore, the pipette also includes a first detection member and a second detection member, the first detection member is used to detect whether the Tip head 530 is installed in place, and the second detection member is used to obtain the liquid level of the solution in the Tip head 530 or the bottle body 511.

The first detection member and the second detection member can be any feasible sensor without limitation. By detecting whether the Tip head 530 is installed in place, it is convenient to determine whether the pipette can perform the pipetting operation to ensure reliability. By detecting the liquid level of the solution in the Tip head 530 or the bottle body 511, it is convenient to determine whether the liquid addition has reached the required amount of liquid addition. By setting the first detection member and the second detection member, the control of the liquid addition operation can be facilitated, and the automation level of the equipment can be improved.

In one embodiment, please refer to Figures 2 and 3, the reaction module includes at least one of a first stirring component 154, a second stirring component 155 and an oscillation component, the first stirring component 154 is used to stir the solution and provide a first temperature range, the second stirring component 155 is used to stir the solution and provide a second temperature range, the first temperature range and the second temperature range are different, and the oscillation component is used to oscillate the solution and provide a third temperature range.

The specific structures of the first stirring component 154, the second stirring component 155 and the oscillation component are not limited. The stirring function of the first stirring component 154 and the second stirring component 155 can be realized in various possible ways, such as magnetically driving the magnet to move in the bottle body 511, extending the stirring rod into the bottle body 511 for stirring, etc., without limitation. The oscillation function of the oscillation component can be realized by clamping the container to drive its swinging oscillation or rotating the eccentric shaft. The reaction temperatures required for different powders and solutions are different during the reaction. At least one of the first stirring component 154, the second stirring component 155 and the oscillation component is set to provide different temperature ranges while providing the mixing function. According to the temperature required for different reactions, one of the suitable components can be selected for mixing, thereby improving the scope of application of the experiment.

Optionally, the first stirring component 154 is a high-temperature magnetic stirrer, which has a temperature controller and a resistance wire, and the temperature controller drives the resistance wire to heat to control the first temperature range to be room temperature-150°C. Room temperature is the ambient temperature during the experiment, such as 20°C, 25°C, 30°C, etc., without limitation. Within the first temperature range, the first stirring component 154 can accurately control the specific temperature value, and the temperature accuracy can be 1°C, that is, the temperature can be increased or decreased by 1°C within the first temperature range. The temperature values that can be accurately controlled are, for example, room temperature, 40°C, 60°C, 80°C, 100°C, 120°C, 140°C, 150°C, etc., and of course, other temperature values can also be used. Among them, the resistance wire can be coated with a silicone heating film to improve safety. In this embodiment, the first stirring component 154 has stirring and heating functions, and can fully stir and heat the powder and solution in the bottle body 511 to a suitable reaction temperature.

Optionally, the second stirring component 155 is a temperature-controlled electromagnetic stirrer, which has a TEC controller and a semiconductor refrigeration element (Peltier element). The TEC controller uses the semiconductor temperature control principle to control the semiconductor element to cool or heat, so as to control the second temperature range to be 0°C-90°C. Similar to the first stirring component 154, the temperature accuracy of the second stirring component 155 of this embodiment can be 1°C. The temperature values that can be accurately controlled are, for example, 0°C, 10°C, 20°C, 30°C, 40°C, 50°C, 60°C, 70°C, 80°C, 90°C, etc., and of course, other temperature values can also be used. In this embodiment, the second stirring component 155 has stirring, cooling and heating functions, can provide a reaction temperature lower than normal temperature, can fully stir the powder and solution in the bottle 511, and cool or heat to a suitable reaction temperature.

Optionally, the third temperature range provided by the oscillation component is room temperature - 150°C, and reference may be made to the manner in which the first stirring component 154 provides the first temperature range, which will not be described in detail.

It is understandable that, according to the reaction temperature range required by the experiment, one, two or all three of the first stirring component 154, the second stirring component 155 and the oscillating component can be selected for the experiment, and there is no limitation. According to the needs of the experiment, one or more first stirring components 154 can be set, one or more second stirring components 155 can be set, and one or more oscillating components can be set. Multiple first stirring components 154, multiple second stirring components 155, and multiple oscillating components can simultaneously perform stirring and oscillating operations on multiple bottles 511 to achieve batch experimental operations.

In one embodiment, please refer to FIG. 2 and FIG. 3 , the reaction station 100 further includes a buffer rack 122, which is disposed on the first platform 111. The structure of the buffer rack 122 may be similar to the aforementioned loading rack 121, and can be used as a reference. There may be multiple containers 510 or bottles 511 (i.e., containers 510 with lids opened) in the test station 100 at the same time, and the containers 510 need to be temporarily stored between some experimental steps, so a buffer rack 122 is provided to temporarily store the containers 510. The buffer rack 122 can be set at any position on the first platform 111, and does not need to be set close to the door 112 of the first machine 110.

Optionally, the loading rack 121 and the buffer rack 122 are both provided with a plurality of tray placement positions, the tray placement positions are used to place and limit the tray 101, and the container 510 is used to be placed on the tray 101. The tray placement positions may be provided with structures such as pins, protrusions, magnetic suction parts, etc., to adapt to the corresponding alignment structure on the tray 101, so that the tray 101 can be limited when placed in the tray placement position, so that the tray 101 can be stably placed on the loading rack 121 or the buffer rack 122. The tray 101 may also be provided with a relevant limiting structure, so that the container 510 is limited when placed on the tray 101, ensuring the stability of the container 510. When the first manipulator 130 moves the container 510, the first manipulator 130 can move the tray 101 to drive the container 510 on the tray 101 to move together. Of course, the first manipulator 130 can also only move the container 510 and leave the tray 101 on the loading rack 121 or the buffer rack 122.

Optionally, the reaction station 100 further includes a tray clamp and a container clamp. The first manipulator 130 is detachably connected to the tray clamp and the container clamp. The tray clamp is used to clamp the tray 101, and the container clamp is used to clamp the container 510 in the tray 101. The tray clamp and the container clamp may be provided with the aforementioned female connector for quick installation and removal with the male connector of the first manipulator 130. The tray clamp and the container clamp may also be placed on the aforementioned tool rack 123 and limited by the tool rack 123 to stabilize the structure. When in use, the first manipulator 130 is connected to the tray clamp and the container clamp, and then drives the tray clamp and the container clamp to move from the tool rack 123 to the loading rack 121 or the buffer rack 122. The tray clamp clamps the tray 101, and the container clamp clamps the container, so that the first manipulator 130 can drive the tray 101 and the container 510 to move through the tray clamp and the container clamp. The specific structures of the tray clamp and the container clamp are not limited, the specific structure of the tray clamp holding the tray 101 is not limited, and the specific structure of the container clamp holding the container is not limited.

Optionally, please refer to FIG. 3 , the reaction station 100 further includes a barcode scanning module 152, which is disposed on the first platform 111, and a barcode is disposed on the tray 101 and/or the container 510, and the barcode scanning module 152 is used to scan and identify the barcode. The barcode scanning module 152 may include a scanning head, etc., which can scan and identify the barcode. The barcode may be a barcode, a two-dimensional code, etc., and the barcode may include relevant information of the tray 101 and/or the container 510, such as the number, type, size, etc. Among them, for the embodiment in which the first manipulator 130 directly moves the container 510, the barcode may be set only on the container 510; for the embodiment in which the first manipulator 130 moves the tray 101, the barcode may be set on both the tray 101 and the container 510, or the barcode may be set only on the tray 101. After the code scanning module 152 scans the barcode, it identifies the relevant information in the barcode and can determine whether the required container 510 has been taken, or whether the required reactant (for example, a container 510 containing powder or a container 510 containing powder and solution placed on the cache rack 122) has been taken. By setting the code scanning module 152, the tray 101 and/or the container 510 can be identified, and the input of information during the experiment can be realized to facilitate the exchange of information. The code scanning module 152 can be set close to the loading rack 121, so that the first manipulator 130 can move the tray 101 and/or the container 510 placed in the loading rack 121 to the code scanning module 152 for scanning and identification in time.

In one embodiment, please refer to Figures 2, 3, 8 and 9, the reaction station 100 also includes a visual module 170, the visual module 170 is arranged on the first platform 111, the first robot 130 is used to move the container 510 after the reaction module performs a reaction experiment to the visual module 170, and the visual module 170 is used to take pictures of the container 510.

The specific structure of the visual module 170 is not limited. The visual module 170 is used to take pictures to obtain a picture of the container 510 . The progress of the reaction can be determined based on the picture of the container 510 .

Optionally, please refer to Figures 2, 3, and 8. The visual module 170 includes a surface light source 171, an annular light source 172, a first camera 173, and a second camera 174. The optical axes of the first camera 173 and the second camera 174 do not intersect. The light emitting surface of the surface light source 171 is approximately located in the vertical direction, and the optical axis of the first camera 173 is perpendicular to the light emitting surface of the surface light source 171. The central axis of the annular light source 172 is located in the vertical direction, and the second camera 174 is located between the annular light source 172 and the first platform 111. The first The camera 173 is used to take a side photo of the container 510 , and the second camera 174 is used to take a bottom photo of the container 510 .

When in use, the first manipulator 130 moves the container 510 between the first camera 173 and the surface light source 171, the central axis of the container 510 is roughly along the vertical direction, the surface light source 171 illuminates the container 510 from one side of the container 510, and the first camera 173 can take a bright side photo of the container 510. From the side photo of the container 510, it is possible to check the mixing of the powder and the solution in the container 510 after the reaction, the stratification of the liquid, the turbidity of the liquid (clear solution state), etc., and the reaction situation can be judged accordingly.

When in use, the first manipulator 130 moves the container 510 to the side of the annular light source 172 facing away from the first platform 111, and makes the central axis of the container 510 roughly coincide with the central axis of the annular light source 172. The annular light source 172 illuminates the container 510 from the bottom side of the container 510, and the second camera 174 can take a bright bottom photo of the container 510. From the bottom photo of the container 510, the condition of the bottom sediment in the container 510 can be checked, and the reaction condition can be judged accordingly.

Generally speaking, the container 510 that has been mixed at the reaction module is generally gradually deposited to the bottom of the container 510 as time goes by. Therefore, the first manipulator 130 generally moves the container 510 between the first camera 173 and the surface light source 171. After the first camera 173 takes a side photo of the container 510, the first manipulator 130 moves the container 510 to the side of the annular light source 172 that is away from the first platform 111, and the second camera 174 takes a bottom photo of the container 510. Of course, in the actual operation process, the bottom photo of the container 510 can be taken first, and then the side photo of the container 510 can be taken as needed. The shooting can be performed at regular intervals, at regular intervals, or alternately, without any restrictions.

The visual module 170 may also include a base 175 and various driving structures arranged on the base 175. The base 175 is arranged on the first platform 111. The various driving structures can be used to control the opening, closing, and brightness of the surface light source 171 and the annular light source 172, as well as driving the surface light source 171, the annular light source 172, the first camera 173, and the second camera 174 to move on the base 175, etc., without any restrictions.

Optionally, a calibration plate 176 is further provided on the side of the surface light source 171 facing the first camera 173. The calibration plate 176 is made of a transparent material and has light transmittance. The calibration plate 176 is parallel to the light emitting surface of the surface light source 171 and can move in a direction parallel to the light emitting surface.

The calibration plate 176 may be provided with a pattern for calibration, such as a checkerboard or array pattern. The calibration plate 176 is used to provide a background for the image captured by the first camera 173, so as to facilitate the inspection of the reaction of the solution in the container 510. When the reaction of the solution needs to be inspected, the driving structure on the base 175 drives one end of the calibration plate 176 and blocks the light-emitting surface of the surface light source 171. The light emitted by the surface light source 171 penetrates the calibration plate 176 to illuminate the calibration plate 176. The first camera 173 takes a photo of the container 510 and the calibration plate 176. The light of the pattern of the calibration plate 176 passes through the solution and enters the first camera 173, and then forms an image in the first camera 173. The reaction conditions such as the stratification and mixing conditions in the solution can be judged according to the degree of distortion of the pattern of the calibration plate 176 in the imaged photo.

In one embodiment, referring to FIG8 , the optical axis of the second camera 174 coincides with the central axis of the annular light source 172 . That is, the optical axis of the second camera 174 is substantially vertical, and the second camera 174 is on the side of the annular light source 172 facing the first platform 111 .

In another embodiment, please refer to FIG. 9 , which is basically the same as the embodiment shown in FIG. 8 , except that an optical reflector 177 is provided between the annular light source 172 and the first platform 111 , and the optical reflector 177 is used to reflect the light of the central axis of the annular light source 172 to coincide with the optical axis of the second camera 174. The optical reflector 177 may be a plane reflector, a reflective prism, etc., without limitation. Compared with the embodiment shown in FIG. 8 , in this embodiment, the position where the second camera 174 is provided in FIG. 8 is replaced by the optical reflector 177, thereby changing the path of the light reflected from the bottom of the container 510, so that the optical axis of the second camera 174 does not need to be provided in the direction of the central axis of the annular light source 172, and the second camera 174 can be provided in a more reasonable position, making the structure more compact. Optionally, the optical axis of the second camera 174 may be parallel to the optical axis of the first camera 173.

In one embodiment, the sample processing system 1000 further includes a mobile robot (not shown in the figure), which is used to pick up and place the container 510 on the loading rack 121. The mobile robot can replace the experimenter to load and unload materials, which can reduce labor costs. Realize full automation of the entire experimental process.

In one embodiment, after the reaction module completes the synthesis reaction experiment, the first manipulator 130 can move the container 510 after the reaction is completed to the loading rack 121 , so that the experimenter or the mobile robot can take the reaction sample from the loading rack 121 .

In one embodiment, referring to FIG. 1 to FIG. 3 , the sample processing system 1000 further includes an analysis station 200 , and the analysis station 200 includes a second machine 210 , a second robot 220 , and an analyzer 230 .

The second machine 210 is arranged at one side of the first machine 110, and the two machines can be arranged close to each other. The second machine 210 has a second platform 211, which is similar to the first platform 111 and is also a platform for placing various parts. The second platform 211 can be at the same height as the first platform 111.

The second robot 220 is disposed on the second platform 211. The second robot 220 is similar to the first robot 130, and the description of the first robot 130 is referred to above and will not be repeated here.

The analyzer 230 is disposed on the second platform 211, and the second manipulator 220 is used to place the solution that has completed the reaction in the reaction station 100 and is transported to the analysis station 200 into the analyzer 230 for analysis. The analyzer 230 is used to analyze the solution and obtain information such as the components and content of the solution. The analyzer 230 can be an LCMS (liquid chromatography-mass spectrometry) analyzer, an HPLC (High Performance Liquid Chromatography) analyzer, an UPLC (Ultra Performance Liquid Chromatography) analyzer, etc. The specific structure and principle of the analyzer 230 are not limited, and any feasible one can be used.

Therefore, in this embodiment, after the sample processing system 1000 completes the reaction at the reaction station 100, it is sent to the analysis station 200 for analysis, which extends the workflow of the sample processing system 1000, automates the analysis process, and further improves the automation level of the equipment.

Optionally, referring to FIG. 2 and FIG. 3 , the sample processing system 1000 further includes a transfer module 300 , which connects the first platform 111 and the second platform 211 and is used to transport the solution that has completed the reaction in the reaction station 100 to the analysis station 200 .

The transfer module 300 may include various conveying devices, such as guide devices, conveyor belt devices, etc., without limitation. Exemplarily, please refer to Figure 3, the transfer module 300 includes a transmission component 310 and a bearing component 320 arranged on the transmission component 310, and the two ends of the transmission component 310 are respectively arranged on the first platform 111 and the second platform 211, and the transmission component 310 is used to drive the bearing component 320 to move on the transmission component 310, so as to move between the first platform 111 and the second platform 211. The bearing component 320 is used to place the container 510 or the tray 101 with the container 510, so as to transfer the reacted solution from the reaction station 100 to the analysis station 200. The transmission component 310 can be specifically a screw nut transmission mechanism, and the bearing component 320 is arranged on the nut, and the bearing component 320 can be driven to move on the transmission component 310 by a motor or other structures.

By providing the transfer module 300 , the solution can be transferred so that the analyzer 230 can analyze the solution.

In one embodiment, referring to FIG. 2 , FIG. 3 and FIG. 10 , the reaction station 100 further includes a gas blowing module 180 , which is disposed on the first platform 111 , and is used to blow inert gas into the solution before the reaction, and/or blow inert gas into the solution to be transported to the analysis station. The gas blowing module 180 is disposed close to the switch cover module 140 .

The specific structure of the air-inflating module 180 is not limited. Optionally, please refer to Figures 3 and 10. The air-inflating module 180 includes a first support seat 181, an air-inflating member 182, a third driving member 183, a first lifting and rotating assembly 184, etc. The first support seat 181 is arranged on the first platform 111, and the air-inflating member 182, the third driving member 183 and the first lifting and rotating assembly 184 are arranged on the first support seat 181. The third driving member 183 is, for example, a dual-motion motor. The third driving member 183 is connected to the first lifting and rotating assembly 184 to drive the first lifting and rotating assembly 184 to perform lifting and rotating movements. The first lifting and rotating assembly 184 is used to connect with the air-inflating head, and the air-inflating member 182 is connected to the air-inflating head for inflating the air-inflating head. The air-inflating head can be a Tip head 530 or other structures, without limitation. An air-inflating head placement rack can be provided on the first support seat 181, on which a plurality of air-inflating heads can be placed.

When in use, the first manipulator 130 moves the container 510 (i.e., the bottle body 511) to which the powder and solution are added to a position close to the inflation module 180. Alternatively, the container 510 (i.e., the bottle body 511) to which the powder and solution are added is placed on the switch cover module. At 140, after the inflation module 180 has finished inflating the container 510, the switch cover module 140 closes the container 510, and then the first manipulator 130 sends it into the reaction module for reaction experiment. The first lifting and rotating assembly 184 of the inflation module 180 performs lifting and/or rotating motion to move to the inflation head placement rack, and is connected to the inflation head, and then performs lifting and/or rotating motion to immerse the inflation head in the solution in the bottle body 511, and then the inflation component 182 inflates the inflation head, and inert gas such as nitrogen or helium is blown into the solution through the inflation head, which can discharge oxygen in the solution to prevent the solution from being oxidized. The inflation component 182 may include a gas storage bottle and a control valve, the gas storage bottle is used to store inert gas, one end of the control valve is connected to the gas storage bottle, and the other end is connected to the inflation head, which is used to control the on-off of the gas path between the gas storage bottle and the inflation head. Preferably, the control valve is a solenoid valve.

The inflation module 180 may also be provided with a first head-retracting mechanism. After completing an inflation operation, the first lifting and rotating assembly 184 may drive the inflation head to move to the first head-retracting mechanism to withdraw the inflation head, that is, the first head-retracting mechanism is used to separate the inflation head from the first lifting and rotating assembly 184. The withdrawn inflation head may be discarded into a waste box. When the inflation operation is performed next time, the first lifting and rotating assembly 184 is reconnected with a new inflation head to avoid contamination of the solution by the inflation head. The specific structure of the first head-retracting mechanism is not limited.

Optionally, please refer to FIG. 2, FIG. 3 and FIG. 11, the reaction station 100 further includes a sampling module 190, the sampling module 190 is disposed on the first platform 111, the sampling module 190 is provided with a sampling bottle 540, the sampling module 190 is used to absorb the solution from the container 510 after the reaction and transfer it to the sampling bottle 540 to complete the sampling of the solution, and the sampling module 190 is arranged near the switch cover module 140. Before sampling, the sampling bottle 540 may contain a diluent, and the sampling module 190 may simultaneously complete the sampling and dilution of the solution; or, before sampling, the sampling bottle 540 is empty, and after the solution sampling is completed, the diluent may be added to the sampling bottle 540 to dilute the solution.

The specific structure of the sampling module 190 is not limited. Optionally, please refer to Figures 3 and 11, the sampling module 190 includes a second support seat 191, a second drive pump 192, a fourth drive member 193, a second lifting and rotating assembly 194, etc. The second support seat 191 is arranged on the first platform 111, the second drive pump 192, the fourth drive member 193 and the second lifting and rotating assembly 194 are arranged on the second support seat 191, the fourth drive member 193 is, for example, a dual-motion motor, the fourth drive member 193 is connected to the second lifting and rotating assembly 194 to drive the second lifting and rotating assembly 194 to perform lifting and rotating movements, the second lifting and rotating assembly 194 is used to connect with the Tip head 530, the Tip head 530 is connected to the second drive pump 192, and the second drive pump 192 is used to provide positive pressure or negative pressure to the Tip head 530, so that the Tip head 530 can absorb or spit liquid. A Tip head placement rack can be set on the second support seat 191, on which a plurality of Tip heads 530 can be placed.

When in use, the first manipulator 130 moves the container 510 (i.e., the bottle body 511, which contains the solution after the reaction) after the reaction is completed to the switch cover module 140 to open the cover, and then the second lifting and rotating component 194 of the sampling module 190 performs lifting and/or rotating movements to move to the tip head placement rack and connect with the tip head 530, and then performs lifting and/or rotating movements to immerse the tip head 530 in the solution in the bottle body 511, and then the second driving pump 192 provides negative pressure to the tip head 530, so that the tip head 530 absorbs liquid, and then the second lifting and rotating component 194 drives the tip head 530 after the liquid absorption to move to the sampling bottle 540, and the second driving pump 192 provides positive pressure to the tip head 530, so that the tip head 530 spits liquid into the sampling bottle 540, and the solution in the sampling bottle 540 is diluted by the diluent. The diluted solution in the sampling bottle 540 can be transferred to the analyzer 230 for analysis later.

Similar to the aforementioned air blowing module 180, the sampling module 190 also needs to perform a head withdrawal operation, and a new Tip head 530 needs to be replaced each time sampling is performed, that is, the sampling module 190 may also be provided with a second head withdrawal mechanism similar to the aforementioned first head withdrawal mechanism, and the second head withdrawal mechanism is used to separate the Tip head from the second lifting and rotating assembly 194, and the specific structure of the second head withdrawal mechanism is not limited.

In one embodiment, referring to FIG. 2 and FIG. 3 , the reaction station 100 further includes a filter module 153 . The filter module 153 is disposed on the first platform 111 . The filter module 153 is used to absorb and filter the solution in the sampling bottle 540 .

The specific structure of the filter module 153 is not limited. The solution in the sampling bottle 540 has been diluted and can be transferred to the analyzer 230 for analysis after being filtered by the filter module 153. Optionally, the filtered solution can be moved to the air blowing module 180. At the location, the solution is aerated and then sent to the analysis station 200.

In one embodiment, please refer to Figures 2 and 3, the analysis station 200 is also provided with a mobile module 240, the mobile module 240 is arranged on the second platform 211, the second manipulator 220 is arranged on the mobile module 240, and the mobile module 240 is used to drive the second manipulator 220 to move to increase the range of movement of the second manipulator 220.

The moving module 240 can drive the second robot 220 to move along at least one direction on the second platform 211 , and the specific structure of the moving module 240 is not limited.

In one embodiment, please refer to Figures 2 and 3, the analysis station 200 also includes a recycling module 250, and the recycling module 250 includes a recycling pipe and a recycling box. The second platform 211 is provided with a floor drain hole, and the recycling box is arranged below the second platform 211. The recycling pipe is passed through the floor drain hole and connected to the recycling box. The waste after the analysis is completed is discarded into the recycling pipe and collected into the recycling box along the recycling pipe. In this way, the containers, waste liquids, etc. that have been analyzed can be recycled by simply throwing them into the recycling pipe, and the operation is simple. After the waste in the recycling box is full, the recycling box can be manually taken out from the analysis station and the waste can be stored and processed at a designated location.

In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims (26)

A sample processing system, comprising a reaction station, wherein the reaction station comprises: A first machine having a first platform; A loading rack, arranged on the first platform, for placing containers; A first manipulator, disposed on the first platform; An opening and closing cover module, disposed on the first platform, for separating or closing the bottle body and the bottle cover of the container moved by the first manipulator; A powder adding module, arranged on the first platform, for adding powder into the bottle body after the bottle cap is separated and moved by the first manipulator; A liquid adding module, arranged on the first platform, for adding solution into the bottle after the powder is added; The reaction module is arranged on the first platform and is used for performing a reaction experiment on the solution in the covered container moved by the first manipulator. The sample processing system according to claim 1, wherein the switch cover module comprises a bottle body clamping assembly, a bottle cap clamping assembly and a first driving member, the bottle body clamping assembly is arranged on the first platform, the bottle cap clamping assembly is arranged on a side of the bottle body clamping assembly facing away from the first platform, the bottle body clamping assembly is used to clamp and fix the bottle body, the bottle cap clamping assembly is used to clamp and fix the bottle cap, and the first driving member is used to drive the bottle body clamping assembly and/or the bottle cap clamping assembly to rotate so as to separate or cover the bottle body and the bottle cap; The bottle body clamping assembly and the bottle cap clamping assembly can move relatively in opposite directions. The sample processing system according to claim 1, wherein the powder adding module comprises a powder adding component and a weighing component, the weighing component is arranged on the first platform and is used to place the bottle body after the bottle cap is separated, the powder adding component is used to add powder into the bottle body, and the amount of powder added is determined according to the weighing result of the weighing component; The weighing component is movable on the first platform, and/or the powder adding component is movable in a direction perpendicular to the first platform; The powder adding module also includes a protective cover, and the powder adding component and the weighing component are covered by the protective cover inside. The side of the protective cover facing the first manipulator is an openable and closable structure. The sample processing system according to claim 1, wherein the liquid adding module includes a first driving pump, a first valve and a liquid adding needle, the first driving pump is used to extract solution from the solution bottle, the first valve connects the first driving pump and the liquid adding needle, and is used to control whether the solution extracted by the first driving pump flows into the liquid adding needle, and the first manipulator is also used to move the liquid adding needle, and the liquid adding needle is used to add solution into the bottle body. The sample processing system according to claim 4, wherein the liquid adding module further comprises a cleaning member, the cleaning member is arranged on the first platform, the cleaning member is provided with a first accommodating channel and a first waste liquid flow channel, the first accommodating channel is opened from the surface of the cleaning member facing away from the first platform to the inside of the cleaning member, the first accommodating channel is used to accommodate the needle body of the liquid adding needle, the first waste liquid flow channel is opened from the side of the cleaning member to communicate with the first accommodating channel, and with the first platform as a reference, the opening of the first waste liquid flow channel on the surface of the cleaning member is higher than the bottom wall of the first accommodating channel; The cleaning piece is also provided with a second accommodating channel and a second waste liquid flow channel, the second accommodating channel is opened from the surface of the cleaning piece facing away from the first platform to the interior of the cleaning piece, the second accommodating channel and the first accommodating channel are spaced apart, the second accommodating channel is used to accommodate the needle body of the liquid-adding needle, the second waste liquid flow channel is opened from the side of the cleaning piece to be connected with the bottom of the second accommodating channel, and with the first platform as a reference, the opening of the second waste liquid flow channel on the surface of the cleaning piece is not higher than the position where the second accommodating channel is connected with the second waste liquid flow channel. The sample processing system according to claim 1, wherein the liquid adding module comprises a pipette, It is detachably connected to the first manipulator, and the first manipulator is used to move the pipette to the Tip head placement position so that the pipette is connected to the Tip head. The pipette is used to automatically aspirate or spit liquid through the Tip head, and automatically retract the Tip head. The sample processing system according to claim 1, wherein the reaction module includes at least one of a first stirring component, a second stirring component and an oscillation component, the first stirring component is used to stir the solution and provide a first temperature range, the second stirring component is used to stir the solution and provide a second temperature range, the first temperature range and the second temperature range are different, and the oscillation component is used to oscillate the solution and provide a third temperature range. The sample processing system according to claim 1, wherein the reaction station further comprises a cache rack, the cache rack being arranged on the first platform, the loading rack and the cache rack both being provided with a plurality of tray placement positions, the tray placement positions being used for placing and limiting trays, and the containers being used for being placed on the trays. According to the sample processing system according to claim 8, the reaction station further comprises a tray clamp and a container clamp, the first manipulator is detachably connected to the tray clamp and the container clamp, the tray clamp is used to clamp the tray, and the container clamp is used to clamp the container in the tray. The sample processing system according to claim 8, wherein the reaction station further comprises a barcode scanning module, the barcode scanning module is arranged on the first platform, a barcode is provided on the tray and/or container, and the barcode scanning module is used to scan and identify the barcode. The sample processing system according to claim 1, wherein the reaction station further comprises a powder barrel rack, the powder barrel rack is arranged on the first platform, the powder barrel rack is provided with a plurality of powder barrel placement positions, the powder barrel placement positions are used to place and limit powder barrels, and the powder barrels are used to hold powder; the first manipulator is used to move the powder barrel to the powder adding module, and the powder adding module is used to add the powder in the powder barrel to the bottle body. According to the sample processing system according to claim 1, the reaction station also includes a visual module, the visual module is arranged on the first platform, the first manipulator is used to move the container after the reaction module performs a reaction experiment to the visual module, and the visual module is used to take a photo of the container. The sample processing system according to claim 12, wherein the visual module includes a surface light source, an annular light source, a first camera and a second camera, the light emitting surface of the surface light source is located in the vertical direction, the optical axis of the first camera is perpendicular to the light emitting surface of the surface light source, the central axis of the annular light source is located in the vertical direction, and the second camera is located between the annular light source and the first platform; the first camera is used to take a side photo of the container, and the second camera is used to take a bottom photo of the container; the optical axis of the first camera does not intersect with the optical axis of the second camera. According to the sample processing system according to claim 13, a calibration plate is further provided on the side of the surface light source facing the first camera, the calibration plate is light-transmissive, the calibration plate is parallel to the light-emitting surface of the surface light source, and the calibration plate can move in a direction parallel to the light-emitting surface. The sample processing system according to claim 13, wherein the optical axis of the second camera coincides with the central axis of the annular light source, or an optical reflector is provided between the annular light source and the first platform, and the optical reflector is used to reflect the light of the central axis of the annular light source to coincide with the optical axis of the second camera. The sample processing system according to claim 1, wherein the first manipulator is located in the middle position of the first platform, and the loading rack, the switch cover module, the powder adding module, the liquid adding module and the reaction module are arranged around the first manipulator; wherein one side of the switch cover module is adjacent to the powder adding module, the other side of the switch cover module is adjacent to the reaction module, the side of the powder adding module away from the switch cover module is adjacent to the liquid adding module, and the side of the reaction module away from the switch cover module is adjacent to the loading rack. The sample processing system according to any one of claims 1 to 16, wherein the sample processing system further comprises an analysis station, wherein the analysis station comprises: A second machine having a second platform; A second manipulator is disposed on the second platform; The analyzer is arranged on the second platform, and the second manipulator is used to place the solution that has completed the reaction in the reaction station and transported to the analysis station into the analyzer for analysis. The sample processing system according to claim 17, wherein the sample processing system further comprises a transfer module, the transfer module connects the first platform and the second platform and is used to transport the solution that has completed the reaction in the reaction station to the analysis station; The transfer module includes a transmission component and a bearing component arranged on the transmission component, the transmission component is used to drive the bearing component to move, and the bearing component is used to place a container. According to the sample processing system according to claim 17, the reaction station also includes an air blowing module, which is arranged on the first platform, and is used to blow inert gas into the solution before the reaction and/or blow inert gas into the solution to be transported to the analysis station; the air blowing module is arranged close to the switch cover module. The sample processing system according to claim 19, wherein the air blowing module includes a first support seat, an air blowing member, a third driving member, a first lifting and rotating assembly and a first head withdrawal mechanism, the first support seat is arranged on the first platform, the air blowing member, the third driving member and the first lifting and rotating assembly are arranged on the first support seat, the third driving member is connected to the first lifting and rotating assembly to drive the first lifting and rotating assembly to perform lifting and rotating movements, the first lifting and rotating assembly is used to connect with the air blowing head, the air blowing member is connected to the air blowing head for blowing air into the air blowing head, and the first head withdrawal mechanism is used to separate the air blowing head from the first lifting and rotating assembly. According to the sample processing system according to claim 17, the reaction station also includes a sampling module, the sampling module is arranged on the first platform, the sampling module is provided with a sampling bottle, the sampling module is used to absorb the solution from the container after the reaction and transfer it to the sampling bottle to complete the sampling of the solution; the sampling module is arranged close to the switch cover module. The sample processing system according to claim 21, wherein the sampling module includes a second support seat, a second drive pump, a fourth drive member, a second lifting and rotating assembly and a second head withdrawal mechanism, the second support seat is arranged on the first platform, the second drive pump, the fourth drive member and the second lifting and rotating assembly are arranged on the second support seat, the fourth drive member is connected to the second lifting and rotating assembly to drive the second lifting and rotating assembly to perform lifting and rotating movements, the second lifting and rotating assembly is used to connect with the Tip head, the second drive pump is connected to the Tip head, the second drive pump is used to provide positive pressure or negative pressure to the Tip head so that the Tip head can absorb or spit liquid, and the second head withdrawal mechanism is used to separate the Tip head from the second lifting and rotating assembly. The sample processing system according to claim 21, wherein the reaction station further comprises a filtration module, wherein the filtration module is disposed on the first platform, and the filtration module is used to absorb and filter the solution in the sampling bottle. According to the sample processing system according to claim 17, the analysis station also includes a mobile module, the mobile module is arranged on the second platform, the second manipulator is arranged on the mobile module, and the mobile module is used to drive the second manipulator to move so as to increase the activity range of the second manipulator. According to the sample processing system according to claim 17, the analysis station also includes a recovery module, the recovery module includes a recovery pipe and a recovery box, the second platform is provided with a floor drain hole, the recovery box is arranged under the second platform, and the recovery pipe is passed through the floor drain hole and connected to the recovery box. The sample processing system according to any one of claims 1 to 16, wherein the sample processing system further comprises a mobile robot, and the mobile robot is used to pick up and place containers on the loading rack.