CN116101602A - Intelligent biological sample storage system - Google Patents

Abstract

The invention discloses an intelligent biological sample storage system, which includes: a storage area, which is used to store samples through a plate frame, and a lifting shovel frame mechanism is arranged inside the storage area, and the lifting shovel frame mechanism is used in the storage area There is also a refrigeration mechanism on the top of the storage area, which is used to cool the inside of the storage area; the operation area, the operation area is connected with the storage area, and the operation area is equipped with a plate rack and a freezing tube extraction mechanism , a code scanning mechanism and a plate frame moving mechanism; a transfer area, the transfer area is connected with the operation area, and is used to enter or move the plate frame or transfer tank through the transfer area into or out of the operation area; the interaction area, the exchange area is used to control the storage The operation of each mechanism in the area, operation area and transfer area, as well as displaying the operating parameters and input control instructions of each mechanism. The invention has the advantages of compact structure, high operation stability, high degree of intelligence, reduced energy consumption, whole-process cold chain, high sample storage capacity, and high access and transfer effect.

Description

An Intelligent Biological Sample Storage System

technical field

The invention relates to an intelligent biological sample storage system, belonging to the technical field of medical devices.

Background technique

Biological samples such as various tissues, blood, cells, organs, DNA, RNA, and biological fluids generally require low-temperature storage, most of which are stored at -80°C, and the storage containers are ultra-low temperature manual refrigerators.

In traditional ultra-low temperature manual refrigerators, the storage or removal of biological samples is performed manually, and there is a high probability of error during the manual operation, and there is a risk of low temperature frostbite. At the same time, since the refrigerator door must be opened every time to access For biological samples, this process will bring in a large amount of water vapor, causing serious frost on the surface of the sample and affecting the identification of the sample.

As the storage of biological samples has received more and more attention, automated storage equipment has been introduced and gradually replaced ultra-low temperature manual refrigerators. However, currently existing fully automatic ultra-low temperature biological sample storage equipment, such as CN110589332A, is an automated biological sample bank. Although it is equipped with a turntable rotation module, a basket lifting module, a shovel module, a tube picking module and a transfer module, there are generally complex structures. , high cost, low effective volume ratio and high energy consumption and a series of problems.

Contents of the invention

The purpose of the present invention is to provide an intelligent biological sample storage system, which has the advantages of compact structure, high operational stability, high degree of intelligence, reduced energy consumption, whole-process cold chain, high sample storage capacity, and high access and transfer effect.

The present invention solves technical problem and adopts following a kind of technical scheme:

An intelligent biological sample storage system, comprising:

Storage area, the storage area is used to store samples through the plate rack, and the interior of the storage area is also provided with a lifting shovel frame mechanism, which is used for accessing the plate racks in the storage area, and the storage area There is also a refrigeration mechanism on the top of the storage area, which is used to cool the inside of the storage area;

Operation area, the operation area is connected with the storage area, and the operation area is equipped with a rack and cryopreservation tube extraction mechanism, a code scanning mechanism and a rack moving mechanism, and the rack and cryopreservation tube extraction mechanism is used to grab the rack And picking tubes, the code scanning mechanism is used to read the storage information of the plate rack or cryopreservation tube, and the plate frame moving mechanism is used to dock the lifting shovel plate frame mechanism to move the plate frame between the operation area and the storage area;

A transfer area, the transfer area communicates with the operation area, and is used to enter or move the pallet or transfer tank through the transfer area into or out of the operation area;

In the interaction area, the exchange area is used to control the operation of each mechanism in the storage area, the operation area and the transfer area, and to display the operating parameters and input control instructions of the various mechanisms.

Optionally, a basket storage device is provided in the storage area to form a storage space; the basket storage device includes a storage device casing and a basket assembly that is rotatably arranged inside the storage device casing, and the side of the storage device casing is provided with The access channel connected with the operating area.

Optionally, the basket assembly includes a basket unit, a rotating drive motor, a rotating plate, a central rotating shaft and a bottom plate, the bottom plate is rotatably connected to the lower part of the storage device casing, and the rotating driving motor is fixed on the top of the storage device casing and is aligned with the upper end of the central rotating shaft. Shaft connection, the upper end of the central rotating shaft is installed on the outer top of the storage device casing, the lower end of the central rotating shaft is connected to the bottom plate in rotation, and the rotating plate is arranged above the inside of the storage device casing and fixedly connected to the central rotating shaft.

Optionally, the refrigerating mechanism includes at least one refrigerating unit, and the refrigerating unit includes a connected compressor, a condenser and an evaporator, the compressor and the condenser are arranged on the outer top of the storage device casing, and the evaporator is arranged on the storage device Inside the shell.

Optionally, an insulation layer is provided on the inner top of the housing of the storage device, and the evaporator is arranged under the insulation layer.

Optionally, the lifting blade frame mechanism includes a blade assembly and a lifting assembly, the blade assembly is connected to the lifting assembly, the lifting assembly can drive the blade assembly to move up and down, and the blade assembly is used to move the blade frame Access from the shelf storage channel on the basket unit.

Optionally, the lifting assembly includes a lifting drive motor, a lifting screw and a guide rod. The lifting driving motor is fixed on the top of the outer shell of the storage device and connected to the lifting screw. The two ends of the lifting screw are respectively rotatably connected to the plate and the lower mounting plate, the two ends of the guide rod are respectively fixedly connected to the upper mounting plate and the lower mounting plate, the upper mounting plate is connected to the rotating plate, and the lower mounting plate is sleeved on the central rotating shaft.

Optionally, the shovel assembly includes a shovel drive motor, a lifting plate, a moving plate, a rotating rod, and a guide column; the shovel driving motor is fixed on the outer top of the storage device housing and is drivingly connected to the rotating rod, and the two ends of the rotating rod The two ends of the guide column are respectively fixedly connected to the upper mounting plate and the lower mounting plate, and the lifting plate is connected to the lifting screw and sleeved. On the guide column, the rotating rod and the moving plate are meshed and connected through a rack and pinion, and the moving plate is slid and installed on the lifting plate along the direction of the storage channel of the plate frame.

Optionally, the intelligent biological sample storage system includes a system casing, and the basket storage device is installed on one side of the system casing, and the operation area is provided with a closed operation cabin, and the operation cabin is provided with access to the access channel. The transfer area is equipped with a closed transfer cabin, and the transfer cabin is equipped with a lifting mechanism, and the operation cabin and the transfer cabin are respectively set above and below the other side of the system shell;

The system shell between the operation cabin and the transfer cabin is also provided with an open transfer cabin, and the side of the transfer cabin facing the operation cabin and the lifting mechanism is respectively provided with an upper transfer port and a lower transfer port. The rack is transferred from the outdoor to the operating area.

Optionally, the interaction area includes an observation window arranged on the front of the operation cabin, a display screen arranged on the front of the transfer cabin, and control buttons arranged on the front of the transfer cabin.

Optionally, the pallet moving mechanism includes a first motor, a transmission belt, a storage plate and a first screw;

The first motor is driven and connected to the first screw rod through a transmission belt and a pulley fixed on the first screw rod, and the storage plate is slidably arranged on the first screw rod.

Optionally, the code scanning mechanism includes a first fixed platform and a code scanner arranged on the upper side of the first fixed platform, and a flat plate is arranged on the top surface of the first fixed platform.

Optionally, the tray and cryopreservation tube extracting mechanism includes a mounting seat and a tray grabbing mechanism and a cryopreservation tube clamping mechanism fixed on the mounting seat, and the mounting seat is slidably arranged on the transverse module through a guide member In addition, the transverse module is also provided with a transverse driving member, which can drive the mounting base to move transversely.

Optionally, the transverse driving member includes a gear arranged on the mount, a transverse motor and a rack arranged on the transverse module, the rack is arranged along the length direction of the transverse module, and the gear is meshedly connected to the rack, and the transverse The output shaft of the motor is connected with the gear.

Optionally, the guide member includes an upper slide rail on the transverse module and a slider on the installation seat, the slide rail extends along the length direction of the transverse module, and the slide block is mated with the slide rail.

Optionally, the frame grabbing mechanism includes a fixed reference plate, the upper part of which is slidably mounted on the vertical stroke plate through a guide assembly and a drive assembly, and can reciprocate along the vertical direction;

The lower part of the fixed datum plate is provided with a gripper assembly for circumferentially clamping the frame, and the gripper assembly includes a rotating disc and two oppositely arranged grippers, both of which are connected to As for the rotating disc, the two grippers move toward each other or move away from each other along with the rotation of the rotating disc.

Optionally, two arc-shaped tracks are provided on the rotating disc, and the two clamping parts are respectively slid in the arc-shaped tracks; the center of the rotating disc is fixed on the fixed reference plate The output shaft of the rotating motor is connected.

Optionally, the frame grabbing mechanism further includes a first guide limit assembly, the grasper and the fixed reference plate are both connected to the first guide limit assembly, and the first guide limit The component guides the two grabbing parts away from each other or close to each other, and the first guide and limit component restricts the two grabbing parts from being displaced in the vertical direction;

The first guiding and limiting assembly includes a first sliding block arranged on the upper end of the gripper and a sliding rail arranged on the fixed reference plate, and the sliding rail and the first sliding block are arranged along the horizontal The direction extends, and the first guide block is arranged in the guide rail.

Optionally, the clamping mechanism for cryopreservation tubes includes a longitudinal movement component and a tube picking mechanism, and the tube picking mechanism is connected to the longitudinal movement component and can reciprocate along the longitudinal direction of the longitudinal movement component.

Optionally, the pipe-picking mechanism includes a fixed-connected pipe-picking clamping assembly and a lateral movement assembly, the lateral movement assembly is connected to the longitudinal movement assembly, and the pipe-picking clamping assembly can move along the lateral direction of the lateral movement assembly. direction to move.

Optionally, the lateral movement assembly includes a second fixed table, on which a second drive motor is fixed, and the second drive motor is coaxially connected with the second screw rod, and the fixed back of the pick pipe clamping assembly The plate is meshed and connected to the screw;

The longitudinal movement assembly includes a vertical travel platform and a guide frame arranged around the vertical travel platform, one side of the vertical travel platform is provided with a vertical track, and the other side is provided with a vertical rack;

The guide frame is fixed on the second fixed platform, and the guide frame is provided with a sliding block facing the vertical track, and the sliding block is matched and connected on the vertical track; the guide frame is provided with a transmission gear on the side facing the vertical rack , the transmission gear is meshedly connected to the vertical rack, and the transmission gear is coaxially connected with the second drive motor fixed on the guide frame.

Optionally, the pick pipe clamping assembly includes:

Clamping rod for circumferential grasping of cryotubes;

The cross motion table, the four clamping rods are respectively fixed on the four lower ends of the cross motion table;

The fixed outer cover, the circumference of the cross motion platform is arranged inside the fixed outer cover and is slidably connected, and the inner wall of the fixed outer cover exerts force on the clamping rods, so that the four clamping rods follow the vertical movement of the cross motion table. Axial displacements move towards or away from each other;

a fixed backplane, the fixed cover is connected to the fixed backplane;

The second driving component, the second driving component includes a driving electric cylinder fixed on the fixed backboard, and the center of the cross motion table is connected to the output end of the driving electric cylinder.

The above-mentioned technical solution of the present invention has at least the following beneficial effects by rationally configuring the storage area, operation area, transfer area, and interaction area, and optimizing the mechanisms that cooperate with each area:

1) Using the interactive area, the efficient access to biological samples is realized, and the location and temperature changes of sample storage are controlled in real time, making it more intelligent;

2) Utilize the plate rack and cryopreservation tube extraction mechanism, code scanning mechanism and plate rack moving mechanism in the operation area to intelligently access the sample plate rack and single sample pick tube, which greatly improves the access of the experimenter. High work efficiency; the design of the working area of the operating cabin avoids outdoor operations and damage to samples;

3) Utilizing the storage area and the internal lifting shovel frame mechanism and refrigeration mechanism, the sample storage capacity is greatly increased, the access to biological samples is more flexible, and the efficiency of access to sample boxes is greatly improved;

4) The docking platform for experimenters is realized by using the transfer area, which can dock operators or transport robots, which greatly improves the efficiency of docking and transferring samples.

5) The overall structure of the intelligent biological sample storage system is more simplified and compact, which reduces the occupied space, saves the manufacturing cost, and improves the stability of the system operation at the same time.

Description of drawings

Fig. 1 is a perspective view of the intelligent biological sample storage system of the present invention;

Fig. 2 is a half-sectional view of the intelligent biological sample storage system of the present invention;

3 is a schematic diagram of the internal structure of the intelligent biological sample storage system of the present invention;

4 is a perspective view of the basket storage device in the intelligent biological sample storage system of the present invention;

Fig. 5 is a perspective view of the basket assembly + lifting shovel frame mechanism in the intelligent biological sample storage system of the present invention;

Fig. 6 is a half-sectional view of Fig. 5;

Fig. 7 is the internal structural diagram of Fig. 5;

Fig. 8 is a partial enlarged view of place A in Fig. 7;

Fig. 9 is a perspective view of the operating cabin in the intelligent biological sample storage system of the present invention, which also includes a lifting mechanism;

Fig. 10 is a perspective view after removing the horizontal support plate in Fig. 9;

Fig. 11 is a partial enlarged view of place B in Fig. 10;

Fig. 12 is a perspective view of the rack and cryopreservation tube extraction mechanism in the intelligent biological sample storage system of the present invention;

Fig. 13 is a perspective view after removing the mounting seat in Fig. 12;

Fig. 14 is a perspective view of the rack grabbing mechanism in the intelligent biological sample storage system of the present invention;

Fig. 15 is a cross-sectional view of the rack grabbing mechanism in the intelligent biological sample storage system of the present invention;

Fig. 16 is a perspective view of the cryopreservation tube clamping mechanism in the intelligent biological sample storage system of the present invention;

Fig. 17 is a perspective view of the pick-up mechanism in the intelligent biological sample storage system of the present invention;

Fig. 18 is a perspective view of the pick tube clamping assembly in the intelligent biological sample storage system of the present invention;

Fig. 19 is a perspective view of the clamping rod + cross motion table + fixed cover in Fig. 18.

The markings in the figure indicate:

10-intelligent biological sample storage system; 101-system shell;

1-storage area; 11-elevating shovel frame mechanism; 111-shovel assembly; 1111-shovel driving motor; 1112-lifting board; 1113-moving board; 1114-rotating rod; ; 1121-lift drive motor; 1122-lift screw; 1123-guide rod; 1124-bottom mounting plate; 12-refrigeration mechanism; 121-refrigeration unit; 1211-compressor; 131-storage device shell; 132-basket assembly; 1321-basket unit; 1321-1-plate frame storage channel; 1322-rotation drive motor; 1323-rotation plate; 1324-central shaft; 1325-bottom plate;

2-operation area; 2-1-operating cabin; 2-1-1-access port; 2-1-2-support plate; 21-plate frame and cryotube extraction mechanism; 211-mounting seat; 2111-guiding Component; 2111-1-slide rail; 2111-2-slider; 2112-transverse drive member; 2112-1-gear; 2112-2-transverse motor; 2112-3-rack; 212-plate frame grabbing mechanism; 2121-Fixed reference plate; 2122-Guide assembly; 2123-Drive assembly; 2124-Vertical stroke plate; 2125-Grab assembly; 2125-1-Rotating disc; -2-rotating motor; 2125-2-grabber; 2126-the first guide limit assembly; 2126-1-the first guide slider; 2126-2-guide rail; 2131-longitudinal moving assembly; 2131-1-vertical travel table; 2131-2-guide frame; 2131-2-1-vertical track; 2131-2-2-sliding block; 2131-2-3-transmission gear; 2131-3-Vertical rack; 2131-4-Second drive motor; 22-Scan code mechanism; 221-First fixed platform; 222-Scan code device; 232-transmission belt; 233-storage plate; 234-first screw rod; Screw rod; 25-pipe clamping assembly; 251-clamping rod; 252-cross motion table; 2521-second guide slider; 2521-1-first guide groove; ;2524-movement rod; 2525-limit plate; 2526-fixed plate; Back plate; 255-second drive member; 2551-drive electric cylinder; 2552-buffer member; 2552-1-telescopic rod; 2552-2-spring; 2552-3-connecting plate;

3-transfer area; 3-1-transfer cabin; 3-2-transfer cabin; 31-lifting mechanism;

4-interaction area; 41-observation window; 412-display screen; 413-control buttons.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the embodiments and the accompanying drawings.

This embodiment provides an intelligent biological sample storage system 10, including:

Storage area 1, the storage area 1 is used to store samples through the plate rack, and the interior of the storage area 1 is also provided with a lifting shovel frame mechanism 11, and the lifting shovel frame mechanism 11 is used for the plate rack in the storage area 1. Access, the top of the storage area 1 is also provided with a refrigeration mechanism 12, and the refrigeration mechanism 12 is used to cool the interior of the storage area 1;

Operation area 2, the operation area 2 is connected with the storage area 1, and the operation area is equipped with a rack and cryopreservation tube extraction mechanism 21, a code scanning mechanism 22 and a rack moving mechanism 23, a rack and cryopreservation tube extraction mechanism 21 is used to grab the plate rack and picking tube, the code scanning mechanism 22 is used to read the stored information of the plate rack or cryopreservation tube, and the plate rack moving mechanism 23 is used to dock the lifting shovel plate frame mechanism 11 to place the plate frame in the operation area 2 Move between storage area 1;

A transfer area 3, the transfer area 3 communicates with the operation area 2, and is used to enter or move the pallet or transfer tank through the transfer area 3 into or out of the operation area 2;

The interaction area 4, the exchange area is used to control the operation of each mechanism in the storage area 1, the operation area 2 and the transfer area 3, and is used to display the operating parameters and input control instructions of the various mechanisms.

When in use, the experimenter puts the rack or transfer tank into the transfer area 3 and transfers it to the inside of the operation area 2, and then activates the rack and cryopreservation tube extraction mechanism 21 in the operation cabin 2-1 to extract the rack and place Move to the code scanning mechanism 22, and then place it on the pallet moving mechanism 23, and the pallet moving mechanism 23 starts to dock the pallet to the storage area 1.

In a further optional implementation mode of the embodiment of the present invention, a basket storage device 13 is provided in the storage area 1 to form a storage space; The storage basket assembly 132 is provided with an access channel communicating with the operating area 2 on the side of the storage device housing 131 .

In a further optional implementation of the embodiment of the present invention, the basket assembly 132 includes a basket unit 1321, a rotating drive motor 1322, a rotating plate 1323, a central rotating shaft 1324, and a bottom plate 1325. The driving motor 1322 is fixed on the top of the storage device housing 131 and is coaxially connected with the upper end of the central rotating shaft 1324. The upper end of the central rotating shaft 1324 is installed on the outer top of the storage device housing 131, and the lower end of the central rotating shaft 1324 is rotatably connected to the bottom plate 1325. The rotating plate 1323 is arranged above the inside of the storage device housing 131 and is fixedly connected to the central rotating shaft 1324 .

In a further optional implementation of the embodiment of the present invention, the refrigeration mechanism 12 includes at least one refrigeration unit 121, and the refrigeration unit 121 includes a compressor 1211, a condenser 1212 and an evaporator connected, and the compressor 1211 and the condenser 1212 It is arranged on the outer top of the storage device casing 131 , and the evaporator is arranged inside the storage device casing 131 .

In a further optional implementation manner of the embodiment of the present invention, a thermal insulation layer 133 is provided on the inner top of the storage device casing 131 , and the evaporator is arranged under the thermal insulation layer 133 .

The specific settings of the above series of basket storage devices 13 not only make full use of the space in the storage area 1, avoid the setting of mechanisms such as extraction and lifting, and greatly increase the storage capacity of samples, but also use the refrigeration mechanism 12 with limited space occupation to cool the storage area 1 , used to control the temperature of the storage area 1 within a preset range, ensuring the stability of the storage environment of the samples.

In a further optional implementation mode of the embodiment of the present invention, the lifting blade frame mechanism 11 includes a blade assembly 111 and a lifting assembly 112, the blade assembly 111 is connected to the lifting assembly 112, and the lifting assembly 112 can drive the blade assembly 111 moves up and down, and the shovel board assembly 111 is used to move the board rack in and out from the board rack storage channel 1321 - 1 on the basket unit 1321 .

By lifting and lowering the shovel frame mechanism 11, the entire plate frame in the basket assembly 132 can be accessed and retrieved by moving laterally from the inside, making full use of the internal space of the basket assembly 132, the structure is more compact, and it can be completed at low temperature The access process is closely connected with the operation area 2, which reduces the cost and energy consumption and improves the efficiency.

In a further optional implementation mode of the embodiment of the present invention, the lifting assembly 112 includes a lifting drive motor 1121, a lifting screw rod 1122 and a guide rod 1123, and the lifting driving motor 1121 is fixed on the outer top of the storage device housing 131 and is drivingly connected to the lifting screw screw , the two ends of the lifting screw 1122 are rotatably connected to the upper mounting plate and the lower mounting plate 1124 respectively, and the two ends of the guide rod 1123 are respectively fixedly connected to the upper mounting plate and the lower mounting plate 1124, and the upper mounting plate is connected to the rotating The lower mounting plate 1124 is sleeved on the central rotating shaft 1324 on the plate 1323 .

In a further optional implementation mode of the embodiment of the present invention, the blade assembly 111 includes a blade driving motor 1111, a lifting plate 1112, a moving plate 1113, a rotating rod 1114, and a guide column 1115; the blade driving motor 1111 is fixed on the housing of the storage device 131 outside the top and drive connection with the rotating rod 1114, the two ends of the rotating rod 1114 are respectively connected to the upper mounting plate and the lower mounting plate 1124 and sleeved on the lifting plate 1112 at the same time, and the two ends of the guide column 1115 are respectively fixedly connected to the On the upper mounting plate and the lower mounting plate 1124, the lifting plate 1112 is transmission-connected with the lifting screw and is sleeved on the guide column 1115, the rotating rod 1114 is connected with the moving plate 1113 through the rack and pinion, and the moving plate 1113 is stored along the plate frame storage channel 1321-1 direction is slidingly installed on the lifting plate 1112.

Start the lifting drive motor 1121, and the lifting screw mandrel 1122 rotates to drive the shovel assembly 111 to move up and down with the lifting plate 1112. Start the shovel plate drive motor 1111 to drive the rotating rod 1114 to rotate, and then drive the moving plate 1113 to move back and forth along the access direction of the plate frame.

In a further optional implementation mode of the embodiment of the present invention, the intelligent biological sample storage system 10 includes a system housing 101, the basket storage device 13 is installed on one side inside the system housing 101, and the operation area 2 is provided with a closed operation cabin 2- 1. The operation cabin 2-1 is provided with an access opening 2-1-1 at the position facing the access channel, and the transfer area 3 is provided with a closed transfer cabin 3-1, and the transfer cabin 3-1 is equipped with a lifting mechanism 31 , the operation cabin 2-1 and the transfer cabin 3-1 are arranged above and below the other side of the system housing 101, respectively;

The system housing 101 between the operation cabin 2-1 and the transfer cabin 3-1 is also provided with an open transfer cabin 3-2, and the transfer cabin 3-2 is facing the operation cabin 2-1 and the side of the lifting mechanism 31 respectively. An upper transfer port and a lower transfer port are provided, and the transfer cabin 3-2 is used to transfer the plate frame from the outside into the operation area 2 .

The above-mentioned lifting mechanism 31 can include a lifting platform, a transmission assembly and a second guide and limit assembly, and the lifting platform is connected with the transmission assembly and the second guide and limit assembly respectively, so as to realize linear motion up and down in the vertical direction, wherein the transmission assembly can It is the structure of motor + second screw rod + transmission block shown in the figure, it can also be the structure of motor + gear + rack, or other, and the structure of the second guide and limit assembly is not limited to the slide block shown in the figure. track mechanism.

The above-mentioned operation cabin 2-1 includes a support plate 2-1-2 for enclosing an independent operating space with the system housing 101, and the support plate 2-1-2 includes a vertical support plate and a horizontal support plate connected integrally.

When the container for storing samples such as the rack or transfer tank reaches the transfer cabin 3-2, the rack or transfer tank is lifted by the lifting mechanism 31 and lifted to the inside of the operation cabin 2-1, specifically by the lower transfer port. Entering, the first door structure for controlling the opening and closing can be further set at the lower transfer port here, and the first door structure can include a channel opening on the horizontal support plate and a channel enclosure connected and fixed above the channel opening. Block, the passage port is provided with a detachable sealing cover. The channel port is used for docking or replacing the lower transfer port, and connects the upper and lower spaces of the horizontal support plate to realize the entry and exit of the plate frame or transfer tank in the operation cabin 2-1. The channel enclosure limits the straightness of vertical movement, which is more conducive to stability The plate frame or transfer tank is transferred, and the sealing cover can be opened or closed according to the needs of use, so as to maintain the sealing of the operating compartment 2-1, which can improve the cold preservation effect and save energy consumption. After completing the tube picking and code scanning operations in the operating cabin 2-1, the plate rack can be sent into the access channel where the basket assembly 132 is in an empty state through the access port 2-1-1, and the storage process of the sample is completed. Here, a second door structure can also be set at the access port 2-1-1 to control the switch there. Further, the second door structure adopts an automatic lift door, including an operation door set on a vertical support plate. Port, the guides arranged on both sides of the operation port and the sliding door movably connected to the guides, the sliding door is connected with the first driving member for automatic lifting, wherein the operation port is the above-mentioned access port 2-1 -1.

In a further optional implementation of the embodiment of the present invention, the interaction area 4 includes an observation window 41 arranged on the front of the operation cabin 2-1, a display screen 412 arranged on the front of the transfer cabin 3-2, and a display screen 412 arranged on the front of the transfer cabin 3-2. - Control buttons 413 on the front of the 2. Check the operation status in real time through the observation window 41 , read the running status through the display screen 412 , and control the actions of various mechanisms through the control buttons 413 .

In a further optional implementation of this embodiment, the plate frame moving mechanism 23 includes a first motor 231, a transmission belt 232, a storage plate 233 and a first screw mandrel 234, and one end of the first screw mandrel 234 is fixedly connected to a pulley, and the pulley passes through the drive belt 232 is linked with the first motor 231, and the storage plate 233 is also slidably installed on the first screw rod 234. Driven by the first motor 231, the first screw rod 234 rotates to drive the storage plate 233 along the first screw rod 234 direction moves back and forth, realizes the function of the transfer frame placed on it.

In a further optional implementation of this embodiment, the code scanning mechanism 22 includes a first fixed platform 221 and a code scanner 222 arranged on the upper side of the first fixed platform 221, and the top surface of the first fixed platform 221 With flat plate 223, a transparent glass plate can be used.

The plate rack and cryopreservation tubes can be respectively placed on the first fixed platform 221 through the plate rack grabbing mechanism 212 and the cryopreservation tube clamping mechanism 213 of the plate rack and cryopreservation tube extraction mechanism 21, and the information is read by a scanner. After scanning the code, the plate rack can be placed on the plate rack moving mechanism 23 at a close distance, and continue to scan the code of the cryopreservation tube. After all the code scanning operations are completed, the plate rack moving mechanism 23 will directly carry out the storage operation. A series of operations are simplified and efficient .

In a further optional implementation of this embodiment, the plate frame and cryopreservation tube extraction mechanism 21 includes a mounting base 211, a plate frame grasping mechanism 212 and a cryopreservation tube clamping mechanism 213 fixed on the mounting base 211, the The mounting seat 211 is slidably disposed on the transverse module through the guide member 411, and the transverse module is also provided with a transverse driving mechanism 2112, which can drive the mounting seat 211 to perform transverse movement.

Utilizing the plate frame and cryopreservation tube extraction mechanism 21, the clamping of the plate frame and the picking action of the cryopreservation tube can be realized. Especially, based on the set sample tube clamping assembly in this embodiment, intelligent single sample can be completed. Picking the tubes greatly improves the work efficiency of the experimenters in accessing samples; at the same time, with the horizontal movement module and the vertical movement module, the horizontal movement and up and down movement of the sample tube clamping components are realized, and the multi-directional picking is completed. Cryopreservation tubes finally realize intelligent sample rack access and single sample picking tubes.

In a further optional implementation of this embodiment, the lateral drive member 2112 includes a gear 2112-1, a lateral motor 2112-2 arranged on the mount 211, and a rack 2112-3 arranged on the lateral module, the rack 2112-3 is arranged along the length direction of the transverse module, the gear 2112-1 is engaged with the rack 2112-3, and the output shaft of the transverse motor 2112-2 is connected with the gear 2112-1.

The transmission form of rack and pinion has the advantages of large bearing capacity and high transmission precision. In this embodiment, the use of rack and pinion transmission can reasonably arrange the position of the horizontal motor 2112-2, and further improve the frame And the compactness of arrangement of each component of cryopreservation tube extracting mechanism 21.

In a further optional implementation of this embodiment, the guide member 2111 includes an upper slide rail 2111-1 on the transverse module and a slider 2111-2 on the mounting seat 211, and the slide rail 2111-1 is along the length direction of the transverse module. Extending, the sliding block 2111-2 is mated with the sliding rail 2111-1.

The setting of the guide member 2111 guides the movement of the installation base 211 in the transverse direction, and limits its position in the longitudinal direction, thereby improving the running stability.

In a further optional implementation manner of this embodiment, the frame grabbing mechanism 212 includes a fixed reference plate 2121, and the upper part of the fixed reference plate 2121 is slidably installed on the vertical stroke plate 2124 through a guide assembly 2122 and a drive assembly 2123, Can reciprocate along the vertical direction;

The lower part of the fixed datum plate 2121 is provided with a grasping plate assembly 2125 for circumferentially clamping the frame, and the grasping plate assembly 2125 includes a rotating disc 2125-1 and two oppositely disposed grasping parts 2125-2, two Each of the grippers 2125-2 is connected to the rotating disk 2125-1, and the two gripping members 2125-2 move toward each other or move away from each other as the rotating disk 2125-1 rotates. direction to move.

Here, the transmission mode of the driving assembly 2123 is not limited, it may be a screw drive, a transmission belt 232, or a rack and pinion transmission. In this embodiment, a rack and pinion transmission is adopted. Moreover, the guide assembly 2122 can be configured as a slider chute mechanism whose extension direction is along the vertical direction, so as to ensure the stability of the fixed reference plate 2121 moving in the vertical direction relative to the vertical stroke plate 2124 .

The change of the distance between the two clamping parts is realized by the rotation of the rotating disc 2125-1, and then the clamping and loosening of the cryotubes is realized. This simplifies the structure of the grasping plate assembly 2125, so that the entire rack can be grasped. The fetching mechanism 212 is more compact to save space.

In a further optional implementation manner of this embodiment, two arc-shaped tracks 2125-1-1 are provided on the rotating disk 2125-1, and the two clamping parts are respectively slid on the arc-shaped tracks 2125-1-1. 1-1; the center of the rotating disc 2125-1 is connected to the output shaft of the rotating motor 2125-1-2 fixed on the fixed reference plate 2121.

The two arc-shaped tracks 2125-1-1 guide and limit the position change between the two grippers 2125-2, and the arc-shaped rails 2125-1-1 change the displacement of the gripper 2125-2 Provide drive.

The grabbing member 2125-2 may include a grabbing arm and a grabbing head, one end of the grabbing arm is slid in the arc track 2125-1-1, and the grabbing head is fixed at the other end of the grabbing arm , more specifically, the grabbing head is a strip splint, and the grabbing arm is a vertical plate. Through the cooperation of the grabbing arm and the arc-shaped track 2125-1-1, the grabbing head is driven to grip and release the cryotube, and the grabbing arm facilitates the connection between the grabbing head and the rotating disk 2125-1.

In a further optional implementation manner of this embodiment, the frame grabbing mechanism 212 also includes a first guide and limit assembly 2126, and the grabbing member 2125-2 and the fixed reference plate 2121 are both connected to the first The guide limit assembly 2126, the first guide limit assembly 2126 guides the two grabbing members 2125-2 away from each other or close to each other, and the first guide limit assembly 2126 limits the two grabbing members 2125-2. The gripper 2125-2 does not produce displacement in the vertical direction;

The first guiding and limiting assembly 2126 includes a first sliding block 2126-1 arranged on the upper end of the gripper 2125-2 and a sliding rail 2126-2 arranged on the fixed reference plate 2121, the sliding Both the rail 2126-2 and the first sliding guide block 2126-1 extend along the horizontal direction, and the first sliding guide block 2126-1 is arranged in the sliding guide rail 2126-2. Specifically, the first sliding guide block 2126-1 is connected to the upper end of the vertical plate, and a sliding block is connected to the inner side of the first sliding guide block 2126-1, which is used to fit and connect in the arc track 2125-1-1.

In this embodiment, the first guiding and limiting component 2126 guides the two grabbing pieces 2125-2 away from or approaching each other, and the first guiding and limiting component 2126 limits the two grabbing pieces 2125-2. 2. There is no displacement in the vertical direction, thereby ensuring the reliability of the gripper 2125-2 for clamping and releasing the cryotube.

In a further optional implementation of this embodiment, the cryopreservation tube clamping mechanism 213 includes a longitudinal movement assembly 2131 and a tube picking mechanism 24. The tube picking mechanism 24 is connected to the longitudinal movement assembly 2131 and can move longitudinally along the longitudinal movement assembly 2131. direction reciprocating movement.

In a further optional implementation of this embodiment, the pipe picking mechanism 24 includes a fixedly connected pipe picking clamping assembly 6 and a lateral movement assembly 241, the lateral movement assembly 241 is connected to the longitudinal movement assembly 2131, and the pipe picking assembly 2131 The clamping assembly 6 can move back and forth along the lateral direction of the lateral moving assembly 241 .

In a further optional implementation manner of this embodiment, the lateral movement assembly 241 includes a second fixed table 2411, on which a second drive motor 22112 is fixed, and the second drive motor 22112 and the second screw rod 2413 Coaxial connection, the fixed back plate 254 of the pick pipe clamping assembly 6 is meshed and connected to the second screw rod 2413;

The longitudinal movement assembly 2131 includes a vertical travel platform 2131-1 and a guide frame 2131-2 arranged on the peripheral side of the vertical travel platform 2131-1, and one side of the vertical travel platform 2131-1 is provided with a vertical track 2131-2-1, the other side is provided with a vertical rack 2131-3;

The guide frame 2131-2 is fixed on the second fixed platform 2411, and the side of the guide frame 2131-2 facing the vertical rail 2131-2-1 is provided with a sliding block 2131-2-2, and the sliding block 2131-2-2 Fittingly connected on the vertical track 2131-2-1; the side of the guide frame 2131-2 facing the vertical rack 2131-3 is provided with a transmission gear 2131-2-3, and the transmission gear 2131-2-3 is meshed and connected to the vertical rail 2131-2. On the rack 2131-3, the transmission gear 2131-2-3 is coaxially connected with the second drive motor 2131-4 fixed on the guide frame 2131-2.

In a further optional implementation manner of this embodiment, the pick tube clamping assembly 6 includes: a clamping rod 251, which is used to grasp the cryopreservation tube in a circumferential direction;

The cross motion table 252, the four clamping rods 251 are respectively fixed on the four lower ends of the cross motion table 252;

The fixed outer cover 253, the circumference of the cross movement table 252 is arranged inside the fixed outer cover 253 and is slidably connected, and the inner wall of the fixed outer cover 253 exerts an active force on the clamping rods 251, so that the four clamping rods 251 follow the The vertical displacement of the cross motion table 252 moves toward each other in the direction of approaching or moving away;

A fixed backplane 254, the fixed outer cover 253 is connected to the fixed backplane 254;

The second driving member 255 , the second driving member 255 includes a driving electric cylinder 2551 fixed on the fixed backplane 254 , and the center of the cross motion table 252 is connected to the output end of the driving electric cylinder 2551 .

The periphery of the cross motion table 252 is provided with four second guide sliders 2521, and the inside of the fixed cover 253 is provided with four guide runners 2531-1, and the second guide sliders 2521 are matched and connected to the guide runners 2531. -1, the cooperating sliding direction of the guide chute 2531 - 1 and the second guide slider 2521 can be decomposed into the moving direction of the clamping rod 251 and the displacement direction of the cross motion table 252 .

As a further improved design of the pipe picking and clamping assembly 6 of this embodiment, the inner wall of the fixed housing 253 is connected with four fixing blocks 2531 , and the four guiding grooves 2531 - 1 are respectively opened on the four fixing blocks 2531 . Further, the first guide block 2531-1-1 is provided on the guide slide groove 2531-1, the first guide groove 2521-1 is provided on the second guide slide block 2521, and the first guide groove 2521-1 1 and the extension direction of the first guide block 2531-1-1, the first guide groove 2521-1 slides relative to the first guide block 2531-1-1; or, the guide slide groove 2531-1 is provided with a second Two guide grooves, the second guide slider 2521 is provided with a second guide block, and in the extending direction of the second guide groove and the second guide block, the second guide block is slidably arranged in the second guide groove; wherein, The extension direction of the first guide groove 2521-1 and the first guide block 2531-1-1 or the second guide groove and the second guide block is consistent with that of the guide groove 2531-1 and the second guide block 2521. Match the direction of sliding. Further, the sample tube clamping assembly also includes a third driving member, the third driving member includes a driving electric cylinder 2551 fixed on the fixed back plate 64, and the center of the cross motion table 252 is connected to the driving electric cylinder 2551. The output terminal of the cylinder 2551. Furthermore, the center of the top of the cross motion table 252 is sequentially connected with a connecting column 2522 and a connecting projection 2523; the output end of the driving electric cylinder 2551 is connected to the upper end of at least one moving rod 2524, and the lower end of each moving rod 2524 is connected through the A fixed plate 2526 is connected behind the limiting plate 2525 on the fixed back plate 254. There is a card slot in the fixed plate 2526 that is snap-fitted with the connecting protrusion 2523, and the connecting protrusion 2523 is limited in all the card slots of the fixed plate 2526. Inside. Furthermore, the third drive member also includes a buffer member 2552, which includes a telescopic rod 2552-1 fixed on the output end of the drive electric cylinder 2551 and connected to the upper end of the limit plate 2525 while sleeved on the The spring 2552-2 on the connecting column 2522, the lower end of the telescopic rod 2552-1 and the upper end of the connecting column 2522 on which the spring 2552-2 is installed are joined together through the connecting plate 2552-3.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (22)

1. An intelligent biological sample storage system, comprising: Storage area, the storage area is used to store samples through the plate rack, and the interior of the storage area is also provided with a lifting shovel frame mechanism, which is used for accessing the plate racks in the storage area, and the storage area There is also a refrigeration mechanism on the top of the storage area, which is used to cool the inside of the storage area; Operation area, the operation area is connected with the storage area, and the operation area is equipped with a rack and cryopreservation tube extraction mechanism, a code scanning mechanism and a rack moving mechanism, and the rack and cryopreservation tube extraction mechanism is used to grab the rack And picking tubes, the code scanning mechanism is used to read the storage information of the plate rack or cryopreservation tube, and the plate frame moving mechanism is used to dock the lifting shovel plate frame mechanism to move the plate frame between the operation area and the storage area; A transfer area, the transfer area communicates with the operation area, and is used to enter or move the pallet or transfer tank through the transfer area into or out of the operation area; In the interaction area, the exchange area is used to control the operation of each mechanism in the storage area, the operation area and the transfer area, and to display the operating parameters and input control instructions of the various mechanisms. 2. A kind of intelligent biological sample storage system according to claim 1, characterized in that, a basket storage device is provided in the storage area to form a storage space; the basket storage device includes a storage device casing and a rotating The basket assembly is arranged inside the casing of the storage device, and an access channel communicating with the operating area is opened on the side of the casing of the storage device. 3. An intelligent biological sample storage system according to claim 2, wherein the basket assembly comprises a basket unit, a rotating drive motor, a rotating plate, a central rotating shaft and a base plate, and the base plate is rotatably connected inside the housing of the storage device Below, the rotating drive motor is fixed on the top of the storage device housing and coaxially connected with the upper end of the central rotating shaft. The upper end of the central rotating shaft is installed on the outer top of the storage device housing. above the inside of the shell and fixedly connected to the central rotating shaft. 4. A kind of intelligent biological sample storage system according to claim 3, characterized in that, the refrigerating mechanism comprises at least one refrigerating unit, and the refrigerating unit comprises a compressor, a condenser and an evaporator connected, and the compression The machine and the condenser are arranged on the outer top of the casing of the storage device, and the evaporator is arranged inside the casing of the storage device. 5 . The intelligent biological sample storage system according to claim 4 , wherein an insulation layer is provided on the inner top of the housing of the storage device, and the evaporator is arranged under the insulation layer. 6 . 6. A kind of intelligent biological sample storage system according to claim 5, characterized in that, the lifting shovel frame mechanism comprises a shovel assembly and a lifting assembly, the shovel assembly is connected to the lifting assembly, and the lifting assembly It can drive the shovel assembly to move up and down, and the shovel assembly is used to move the plate frame in and out from the plate frame storage channel on the basket unit. 7. An intelligent biological sample storage system according to claim 6, wherein the lifting assembly includes a lifting drive motor, a lifting screw and a guide rod, and the lifting drive motor is fixed on the top of the outer shell of the storage device and connected to the The lifting screw is driven and connected, the two ends of the lifting screw are respectively connected to the upper mounting plate and the lower mounting plate, and the two ends of the guide rod are respectively fixedly connected to the upper mounting plate and the lower mounting plate, and the upper mounting plate is connected to On the rotating plate, the lower mounting plate is sheathed on the central rotating shaft. 8. A kind of intelligent biological sample storage system according to claim 7, characterized in that, the shovel plate assembly comprises a shovel plate drive motor, a lifting plate, a moving plate, a rotating rod and a guide post; the shovel plate drive motor is fixed On the outer top of the storage device housing and connected to the rotating rod, the two ends of the rotating rod are respectively connected to the upper mounting plate and the lower mounting plate and sleeved on the lifting plate at the same time, and the two ends of the guide column are fixedly connected to the upper mounting plate. On the plate and the lower mounting plate, the lifting plate is transmission-connected with the lifting screw and is sleeved on the guide column. The rotating rod and the moving plate are meshed and connected through a rack and pinion. 9. A kind of intelligent biological sample storage system according to claim 8, characterized in that, the intelligent biological sample storage system comprises a system shell, the basket storage device is installed on one side inside the system shell, and the operating area is provided with a closed The operating cabin is equipped with an access opening facing the access passage, and the transfer area is equipped with a closed transfer cabin, and the transfer cabin is equipped with a lifting mechanism. The operation cabin and the transfer cabin are respectively set inside the system shell. above and below one side; The system shell between the operation cabin and the transfer cabin is also provided with an open transfer cabin, and the side of the transfer cabin facing the operation cabin and the lifting mechanism is respectively provided with an upper transfer port and a lower transfer port. The rack is transferred from the outdoor to the operating area. 10. An intelligent biological sample storage system according to claim 9, characterized in that, the interaction area includes an observation window arranged on the front of the operation cabin, a display screen arranged on the front of the transfer cabin, and a display screen arranged on the front of the transfer cabin. Control buttons on the front of the cabin. 11. An intelligent biological sample storage system according to claim 10, characterized in that, the rack moving mechanism comprises a first motor, a transmission belt, a storage plate and a first screw rod; The first motor is driven and connected to the first screw rod through a transmission belt and a pulley fixed on the first screw rod, and the storage plate is slidably arranged on the first screw rod. 12. An intelligent biological sample storage system according to claim 11, wherein the code scanning mechanism comprises a first fixed platform and a code scanner arranged on the upper side of the first fixed platform, so that A flat plate is arranged on the top surface of the first fixed platform. 13. A kind of intelligent biological sample storage system according to claim 12, characterized in that, the tray and cryopreservation tube extraction mechanism comprises a mounting seat and a tray grabbing mechanism fixed on the mounting seat and a cryopreservation tube extraction mechanism. For the pipe clamping mechanism, the mounting seat is slidably arranged on the transverse module through a guide member, and a transverse driving member is also provided on the transverse module, which can drive the mounting seat to move laterally. 14. A kind of intelligent biological sample storage system according to claim 13, characterized in that, the lateral drive member includes a gear and a lateral motor arranged on the mounting base and a rack arranged on the lateral module, the tooth The bars are arranged along the length direction of the transverse module, the gears are meshed and connected to the racks, and the output shaft of the transverse motor is connected with the gears. 15. A kind of intelligent biological sample storage system according to claim 14, characterized in that, the guide member includes a slide rail on the horizontal module and a slider on the mounting seat, and the slide rail runs along the length of the horizontal module. The direction is extended, and the slider is connected with the slide rail. 16. An intelligent biological sample storage system according to claim 15, characterized in that, the rack grabbing mechanism comprises a fixed reference plate, and the upper part of the fixed reference plate is slidably installed on the The vertical stroke plate can reciprocate along the vertical direction; The lower part of the fixed datum plate is provided with a gripper assembly for circumferentially clamping the frame, and the gripper assembly includes a rotating disc and two oppositely arranged grippers, both of which are connected to As for the rotating disc, the two grippers move toward each other or move away from each other along with the rotation of the rotating disc. 17. An intelligent biological sample storage system according to claim 16, wherein two arc-shaped tracks are arranged on the rotating disk, and the two gripping parts are respectively slid on the arcs. In the shaped track; the center of the rotating disc is connected with the output shaft of the rotating motor fixed on the fixed reference plate. 18. An intelligent biological sample storage system according to claim 17, wherein the rack grabbing mechanism further comprises a first guide and limit assembly, and both the grabbing member and the fixed reference plate are Connected to the first guiding and limiting component, the first guiding and limiting component guides the two grabbing members away from each other or approaching each other, and the first guiding and limiting component limits the two grabbing members. There is no displacement of the gripper in the vertical direction; The first guiding and limiting assembly includes a first sliding block arranged on the upper end of the gripper and a sliding rail arranged on the fixed reference plate, and the sliding rail and the first sliding block are arranged along the horizontal The direction extends, and the first guide block is arranged in the guide rail. 19. An intelligent biological sample storage system according to claim 18, wherein the clamping mechanism for cryopreservation tubes comprises a longitudinal movement assembly and a pick-up mechanism, the pick-up mechanism is connected to the longitudinal movement assembly, and can reciprocating movement along the longitudinal direction of the longitudinal movement assembly. 20. A kind of intelligent biological sample storage system according to claim 19, characterized in that, the pick-up mechanism comprises a fixedly connected pick-up clamping assembly and a lateral movement assembly, and the lateral movement assembly is connected to move vertically As for the component, the pipe pick clamping component can move back and forth along the transverse direction of the transverse moving component. 21. A kind of intelligent biological sample storage system according to claim 20, characterized in that, the lateral movement assembly comprises a second fixed platform, a second drive motor is fixed on the second fixed platform, and the second drive The motor is coaxially connected with the second screw rod, and the fixed back plate of the pipe pick and clamp assembly is meshed and connected to the screw rod; The longitudinal movement assembly includes a vertical travel platform and a guide frame arranged around the vertical travel platform, one side of the vertical travel platform is provided with a vertical track, and the other side is provided with a vertical rack; The guide frame is fixed on the second fixed platform, and the guide frame is provided with a sliding block facing the vertical track, and the sliding block is matched and connected on the vertical track; the guide frame is provided with a transmission gear on the side facing the vertical rack , the transmission gear is meshedly connected to the vertical rack, and the transmission gear is coaxially connected with the second drive motor fixed on the guide frame. 22. A kind of intelligent biological sample storage system according to claim 21, characterized in that, the pick tube clamping assembly comprises: Gripper rod for circumferential grasping of cryotubes; The cross motion table, the four clamping rods are respectively fixed on the four lower ends of the cross motion table; The fixed outer cover, the circumference of the cross motion platform is arranged inside the fixed outer cover and is slidably connected, and the inner wall of the fixed outer cover exerts force on the clamping rods, so that the four clamping rods follow the vertical movement of the cross motion table. Axial displacements move towards or away from each other; a fixed backplane, the fixed cover is connected to the fixed backplane; The second driving component, the second driving component includes a driving electric cylinder fixed on the fixed backboard, and the center of the cross motion table is connected to the output end of the driving electric cylinder.

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