CN111086812A - Biological sample storage facilities of dark low temperature - Google Patents
Biological sample storage facilities of dark low temperature Download PDFInfo
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- CN111086812A CN111086812A CN201911279057.9A CN201911279057A CN111086812A CN 111086812 A CN111086812 A CN 111086812A CN 201911279057 A CN201911279057 A CN 201911279057A CN 111086812 A CN111086812 A CN 111086812A
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- 239000012472 biological sample Substances 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 239000000523 sample Substances 0.000 claims abstract description 49
- 238000007710 freezing Methods 0.000 claims abstract description 27
- 230000008014 freezing Effects 0.000 claims abstract description 27
- 238000005057 refrigeration Methods 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 claims description 12
- 238000005192 partition Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 16
- 239000007788 liquid Substances 0.000 description 8
- 229910052757 nitrogen Inorganic materials 0.000 description 8
- 230000008901 benefit Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002865 immune cell Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000000130 stem cell Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention discloses a deep low temperature biological sample storage device, which can grab a sample box and drive the sample box to move in the vertical direction and/or the front-back direction by arranging a grabbing mechanism, can drive the sample box to move in the front-back direction and the left-right direction by arranging a positioning mechanism, and improves the positioning convenience of the sample box; thereby realizing the extraction or storage of a single freezing storage tube or a plurality of freezing storage tubes classified or the combination of single freezing storage tube and a plurality of freezing storage tubes; and the influence of environmental damage on the refrigerating tank can not be brought.
Description
Technical Field
The invention relates to the technical field of wine packaging, in particular to deep low-temperature biological sample storage equipment.
Background
The deep low temperature biological sample bank is the basic equipment which is important for the research work in the current medicine field and the biological field, and the activity of biological tissues such as blood, stem cells, immune cells and the like can be kept for a long time through the low temperature preservation of liquid nitrogen. The biological sample is usually placed in a freezing tube, the freezing tube is placed in a transfer box, and the biological sample is transferred and stored in a deep low-temperature storage tank through the transfer box for storage, wherein the deep low-temperature storage tank is usually a liquid nitrogen tank; when the freezing pipes stored in the deep low-temperature storage tank are extracted, the freezing pipes in the liquid nitrogen tank are also extracted into the transfer box and then transferred to a destination through the transfer box; in the prior art, one of the storage and extraction of the freezing storage tube is to manually open a liquid nitrogen tank, find a target freezing storage tube and then take out the target freezing storage tube or find a target storage tube and then store the target freezing storage tube; the other method is that the target freezing tube moves to the access opening in the liquid nitrogen tank, and the target freezing tube is taken out; the two modes can not ensure the deep low temperature environment in the liquid nitrogen tank, can not realize the freedom of extraction or storage, can not automatically extract or store the freezing storage pipe, and can not realize the extraction or storage of a single freezing storage pipe or a plurality of classified freezing storage pipes or the combination of the single freezing storage pipe and the plurality of classified freezing storage pipes, thereby being inconvenient to operate, bringing inconvenience to users and also bringing destructiveness to the deep low temperature environment of the liquid nitrogen tank. In view of the above drawbacks, it is desirable to design a cryogenic biological specimen storage device.
Disclosure of Invention
The present invention is directed to a cryogenic biological specimen storage device to solve the above-mentioned problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a dark low temperature biological sample storage device, includes PLC controller, cold-stored jar, workstation, snatchs mechanism, positioning mechanism, elevating system, presss from both sides and gets mechanism, suction means and carousel mechanism, cold-stored tank deck portion is provided with the workstation, first circular through-hole has been seted up on the workstation, be provided with carousel mechanism on the first circular through-hole, install positioning mechanism on the carousel mechanism, one side of carousel mechanism is provided with and snatchs the mechanism, second circular through-hole has still been seted up on the workstation, second circular through-hole is located snatch the below of mechanism, be provided with elevating system on the second circular through-hole, elevating system's below is provided with to press from both sides and gets the mechanism, the PLC controller respectively with snatch mechanism, positioning mechanism, elevating system, press from both sides and get the mechanism, suction means and carousel mechanism and be connected to control snatchs mechanism, The positioning mechanism, the lifting mechanism, the clamping mechanism, the suction mechanism and the turntable mechanism work.
Preferably, it includes first manipulator to snatch the mechanism, first manipulator is installed on the hypoplastron, the one end of hypoplastron is provided with the riser perpendicularly, the upper plate is installed at the top of riser, upper plate, riser and hypoplastron concatenation form the U-shaped structure, the upper plate is fixed on the slider of X to linear module, X fixes the upper end at the L shaped plate to linear module, the lower extreme of L shaped plate is fixed on the slider of first Z to linear module, first Z is vertical to installing in the frame to linear module, the frame is fixed on the workstation.
Preferably, positioning mechanism is including the board of placing that is used for placing the sample box, a plurality of standing grooves of align to grid on the sample box, every the freezing pipe of depositing has all been placed in the standing groove, place the lower surface both ends of board and install first slider respectively, two first slider all sets up on corresponding first slide rail, two first slide rail is all fixed on corresponding first cushion, two first cushion is fixed respectively at the both ends of first movable plate, one of them install first rack on the first cushion, first rack is connected with first gear engagement, first gear is installed on the output shaft of first motor, first motor is fixed at the upper surface of placing the board.
Preferably, the second sliders are respectively installed at two ends of the lower surface of the first movable plate, the second sliders are arranged on corresponding second slide rails, the second slide rails are respectively fixed at two ends of the first bottom plate, the first bottom plate is provided with a second motor, the second motor is located between the two guide rails, an output shaft of the second motor is connected with the first lead screw, two ends of the first lead screw are respectively fixed on the first shaft support, the first lead screw is sleeved with a first lead screw nut, the first lead screw nut is fixed on the first connecting block, and the first connecting block is fixed on the lower surface of the first movable plate.
Preferably, elevating system includes hollow drum, the drum top is provided with the apron, first opening has been seted up to the upper end of drum, first opening is located the top of workstation, the bottom of drum is provided with the second opening, be provided with circular lifter plate in the drum, the bottom of circular lifter plate is provided with the support column, the bottom of support column is fixed on L shape layer board, L shape layer board is installed on the slider of second Z to linear module, second Z is fixed on the module mounting panel to linear module, the vertical lower surface of fixing at the workstation of module mounting panel.
Preferably, the clamping mechanism comprises a manipulator fixing plate, a placing cabinet is arranged on one side of the manipulator fixing plate, a plurality of placing chambers are sequentially separated from top to bottom in a cabinet cavity of the placing cabinet through a partition plate, a second manipulator is arranged on the manipulator fixing plate, third sliding blocks are respectively arranged at two ends of the lower surface of the manipulator fixing plate, the third sliding blocks are respectively arranged on corresponding third sliding rails, the third sliding rails are respectively fixed on corresponding second cushion blocks, the second cushion blocks are respectively fixed at two ends of a second moving plate, one of the second cushion blocks is provided with a second rack, the second rack is meshed with a second gear, the second gear is arranged on an output shaft of a third motor, and the third motor is fixed on the upper surface of the manipulator fixing plate.
Preferably, the two ends of the lower surface of the second movable plate are respectively provided with a fourth slider, the two fourth sliders are arranged on corresponding fourth sliding rails, the two fourth sliding rails are respectively fixed at the two ends of the first bottom plate, the first bottom plate is provided with a fourth motor, the fourth motor is positioned between the two guide rails, an output shaft of the fourth motor is connected with a second lead screw, the two ends of the second lead screw are respectively fixed on the second shaft support, the second lead screw is sleeved with a second lead screw nut, the second lead screw nut is fixed on a second connecting block, and the second connecting block is fixed on the lower surface of the second movable plate.
Preferably, the suction mechanism comprises a first suction nozzle and a second suction nozzle, the first suction nozzle is communicated with a first vacuum pump through a first pipeline, the first vacuum pump is fixed on a support, the support is fixed on a planetary disc, the first vacuum pump is communicated with one end of a first vacuum tube, the other end of the first vacuum tube is communicated with a refrigeration tank, the refrigeration tank is cylindrical, and a plurality of storage guide tubes are uniformly arranged inside the refrigeration tank.
Preferably, carousel mechanism includes carousel and planetary plate, first bearing is installed at the center of carousel, install the pivot on the first bearing, the second bearing is installed at the top of pivot, the second bearing is fixed at the support, the support is fixed on the workstation, the third circular through-hole has been seted up on the carousel, be provided with the planetary plate on the third circular through-hole, the last supporting shaft of planetary plate, install the back shaft bearing on the back shaft, the back shaft bearing is fixed at the lower surface of planetary plate, the outer lane of planetary plate is provided with the external tooth structure, be provided with the third gear rather than the meshing in the periphery of planetary plate, the output shaft of third gear and fifth motor, the fifth motor is fixed on the motor mount pad, the motor mount pad is fixed on the workstation.
Preferably, the outer lane of carousel is provided with the external tooth structure, be provided with the fourth gear rather than the meshing in the periphery of carousel, the fourth gear is connected with the output shaft of sixth motor, the sixth motor is fixed on the motor mount pad, the motor mount pad is fixed on the workstation, a plurality of gyro wheels have evenly been arranged in the periphery of carousel, the gyro wheel is fixed on the ejector pad, the one end and the piston rod of cylinder of ejector pad are connected, the cylinder is fixed on the workstation.
Compared with the prior art, the cryogenic biological sample storage equipment has the advantages that the sample box can be grabbed and driven to move in the vertical direction and/or the front-back direction by the aid of the grabbing mechanism, the sample box can be driven to move in the front-back direction and the left-right direction by the aid of the positioning mechanism, positioning convenience of the sample box is improved, the grabbing mechanism is arranged and used for grabbing the sample box and driving the sample box to move in the vertical direction and/or the front-back direction and/or the left-right direction, the planetary plate can rotate around a self shaft by the aid of the turntable mechanism, and the planetary plate rotates around the rotating shaft of the turntable and also rotates around a self support column shaft by the aid of the turntable mechanism, so that planetary motion is achieved; thereby realizing the extraction or storage of a single freezing storage tube or a plurality of freezing storage tubes classified or the combination of single freezing storage tube and a plurality of freezing storage tubes; and the influence of environmental damage on the refrigerating tank can not be brought.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
FIG. 1 is a schematic structural diagram of a cryogenic biological sample storage device according to the present invention;
FIG. 2 is a perspective view of a cryogenic biological specimen storage device of the present invention with the refrigeration tank removed;
FIG. 3 is a schematic structural diagram of the upper part of a workbench in the deep cryogenic biological sample storage device of the present invention;
FIG. 4 is a schematic diagram of a portion of a cryogenic biological specimen storage device according to the present invention;
fig. 5 is an enlarged view of fig. 2 at a.
In the drawings:
1. a refrigerated tank; 2. a work table; 21. a first circular through hole; 22. a second circular through hole; 3. a grabbing mechanism; 301. a first manipulator; 302. a lower plate; 303. a vertical plate; 304. an upper plate; 305. an X-direction linear module; 306. an L-shaped plate; 307. a first Z-direction linear module; 308. a frame; 4. a positioning mechanism; 401. placing the plate; 402. a first slider; 403. a first slide rail; 404. a first cushion block; 405. a first moving plate; 406. a first rack; 407. a first gear; 408. a first motor; 409. a second slider; 410. a second slide rail; 411. a first base plate; 412. a second motor; 413. a first lead screw; 414. a first shaft support; 415. a first lead screw nut; 416. a first connection block; 5. a lifting mechanism; 501. a cylinder; 502. a cover plate; 503. a first opening; 504. a second opening; 505. a circular lifter plate; 506. a support pillar; 507. an L-shaped pallet; 508. a second Z-direction linear module; 509. a module mounting plate; 6. a gripping mechanism; 601. a manipulator fixing plate; 602. a second manipulator; 603. a third slider; 604. a third slide rail; 605. a second cushion block; 606. a second moving plate; 607. a second rack; 608. a second gear; 609. a third motor; 610. a fourth slider; 611. a fourth slide rail; 612. a second base plate; 613. a fourth motor; 614. a second lead screw; 615. a second shaft support; 616. a second feed screw nut; 617. a second connecting block; 618. a connecting plate; 619. a third Z-direction linear module; 620. a module mounting plate; 7. a suction mechanism; 701. a first suction nozzle; 702. a first conduit; 703. a first vacuum pump; 704. a support; 705. a first vacuum tube; 706. a second suction nozzle; 707. a second conduit; 708. a second vacuum pump; 709. a second vacuum tube; 8. a turntable mechanism; 801. a turntable; 802. a first bearing; 803. a rotating shaft; 804. a second bearing; 805. a support; 806. a third circular through hole; 807. a planetary plate; 808. a third gear; 809. a fifth motor; 810. a motor mounting seat; 811. a fourth gear; 812. a sixth motor; 813. a motor mounting seat; 814. a roller; 815. a push block; 816. a cylinder; 9. and (4) a sample box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a dark low temperature biological sample storage device, includes PLC controller, cold-stored jar 1, workstation 2, snatchs mechanism 3, positioning mechanism 4, elevating system 5, presss from both sides and gets mechanism 6, suction means 7 and carousel mechanism 8, cold-stored jar 1 top is provided with workstation 2, first circular through-hole 21 has been seted up on workstation 2, be provided with carousel mechanism 8 on the first circular through-hole 21, install positioning mechanism 4 on carousel mechanism 8, one side of carousel mechanism 8 is provided with and snatchs mechanism 3, second circular through-hole 22 has still been seted up on workstation 2, second circular through-hole 22 is located snatch the below of mechanism 3, be provided with elevating system 5 on the second circular through-hole 22, the below of elevating system 5 is provided with to press from both sides and gets mechanism 6, the PLC controller respectively with snatch mechanism 3, positioning mechanism 4, elevating system 5, The clamping mechanism 6, the suction mechanism 7 and the turntable mechanism 8 are connected to control the operation of the clamping mechanism 3, the positioning mechanism 4, the lifting mechanism 5, the clamping mechanism 6, the suction mechanism 7 and the turntable mechanism 8.
In this embodiment, the grabbing mechanism 3 includes a first manipulator 301, the first manipulator 301 is installed on a lower plate 302, a vertical plate 303 is vertically arranged at one end of the lower plate 302, an upper plate 304 is installed on the top of the vertical plate 303, the upper plate 304, the vertical plate 303 and the lower plate 302 are spliced to form a U-shaped structure, the upper plate 304 is fixed on a sliding block of an X-direction linear module 305, the X-direction linear module 305 is fixed on the upper end of an L-direction plate 306, the lower end of the L-direction plate 306 is fixed on a sliding block of a first Z-direction linear module 307, the first Z-direction linear module 307 is vertically installed on a rack 308, and the rack 308 is fixed on the workbench 2. Snatch mechanism 3 is used for snatching sample box 9 and drives sample box 9 and move in vertical direction and/or fore-and-aft direction, has the advantage that job stabilization is reliable, degree of automation is high, work efficiency is high.
In this embodiment, the positioning mechanism 4 includes a placing plate 401 for placing a sample box 9, a plurality of placing grooves are uniformly arranged on the sample box 9, a freezing tube is placed in each placing groove, first sliders 402 are respectively installed at two ends of the lower surface of the placing plate 401, the two first sliders 402 are respectively arranged on corresponding first sliding rails 403, the two first sliding rails 403 are respectively fixed on corresponding first cushion blocks 404, the two first cushion blocks 404 are respectively fixed at two ends of a first moving plate 405, one of the first cushion blocks 404 is provided with a first rack 406, the first rack 406 is engaged with a first gear 407, the first gear 407 is installed on an output shaft of a first motor 408, and the first motor 408 is fixed on the upper surface of the placing plate 401.
In this embodiment, the two ends of the lower surface of the first moving plate 405 are respectively provided with a second slider 409, the two second sliders 409 are both disposed on corresponding second sliding rails 410, the two second sliding rails 410 are respectively fixed at the two ends of the first bottom plate 411, the first bottom plate 411 is provided with a second motor 412, the second motor 412 is located between the two guide rails 410, the output shaft of the second motor 412 is connected with a first lead screw 413, the two ends of the first lead screw 413 are respectively fixed on the first shaft support 414, the first lead screw 413 is sleeved with a first lead screw nut 415, the first lead screw nut 415 is fixed on the first connecting block 416, and the first connecting block 416 is fixed on the lower surface of the first moving plate 405. Positioning mechanism 4 is used for driving sample box 9 around and the left and right sides direction motion, has improved sample box 9's location convenience, has the advantage that job stabilization is reliable, degree of automation is high, work efficiency is high.
In this embodiment, the lifting mechanism 5 includes a hollow cylinder 501, a cover plate 502 is disposed on the top of the cylinder 501, a first opening 503 is disposed at the upper end of the cylinder 501, the first opening 503 is located above the workbench 2, a second opening 504 is disposed at the bottom of the cylinder 501, a circular lifting plate 505 is disposed in the cylinder 501, a supporting column 506 is disposed at the bottom of the circular lifting plate 505, the bottom of the supporting column 506 is fixed on an L-shaped supporting plate 507, the L-shaped supporting plate 507 is mounted on a slider of a second Z-direction linear module 508, the second Z-direction linear module 508 is fixed on a module mounting plate 509, and the module mounting plate 509 is vertically fixed on the lower surface of the workbench 2. Elevating system 5 is used for driving sample box 9 and moves in the vertical direction, has the advantage that job stabilization is reliable, degree of automation is high.
In this embodiment, the gripping mechanism 6 includes a manipulator fixing plate 601, a placing cabinet 621 is disposed on one side of the manipulator fixing plate 601, the chamber of the placing cabinet 621 is sequentially divided into a plurality of placing chambers from top to bottom by partition plates, the manipulator fixing plate 601 is provided with a second manipulator 602, the two ends of the lower surface of the manipulator fixing plate 601 are respectively provided with a third sliding block 603, the two third sliding blocks 603 are respectively arranged on corresponding third sliding rails 604, the two third sliding rails 604 are respectively fixed on corresponding second cushion blocks 605, the two second cushion blocks 605 are respectively fixed at the two ends of a second moving plate 606, one of the second cushion blocks 605 is provided with a second rack 607, the second rack 607 is engaged with a second gear 608, the second gear 608 is mounted on an output shaft of a third motor 609, and the third motor 609 is fixed to an upper surface of the robot fixing plate 601.
In this embodiment, the fourth sliders 610 are respectively mounted at two ends of the lower surface of the second moving plate 606, the two fourth sliders 610 are respectively disposed on the corresponding fourth sliding rails 611, the two fourth sliding rails 611 are respectively fixed at two ends of the first bottom plate 612, the first bottom plate 612 is mounted with the fourth motor 613, the fourth motor 613 is located between the two guiding rails 611, an output shaft of the fourth motor 613 is connected with the second lead screw 614, two ends of the second lead screw 614 are respectively fixed on the second shaft support 615, the second lead screw 614 is sleeved with the second lead screw nut 616, the second lead screw nut 616 is fixed on the second connecting block 617, and the second connecting block 617 is fixed on the lower surface of the second moving plate 606.
In this embodiment, the first base plate 612 is fixed to the connecting plate 618, the connecting plate 618 is fixed to the slider of the third Z-direction line module 619, the third Z-direction line module 619 is fixed to the module mounting plate 620, and the module mounting plate 620 is vertically fixed to the lower surface of the table 2. The clamping mechanism 6 is used for clamping the sample box 9 and driving the sample box 9 to move in the vertical direction and/or the front-back direction and/or the left-right direction, and has the advantages of stable and reliable work, high automation degree and high work efficiency.
In this embodiment, the suction mechanism 7 includes a first suction nozzle 701 and a second suction nozzle 706, the first suction nozzle 701 is communicated with a first vacuum pump 703 through a first pipeline 702, the first vacuum pump 703 is fixed on a support 704, the support 704 is fixed on a planetary disk 807, the first vacuum pump 703 is communicated with one end of a first vacuum tube 705, the other end of the first vacuum tube 705 is communicated with a refrigeration tank 1, the refrigeration tank 1 is cylindrical, a plurality of storage conduits are uniformly arranged inside the refrigeration tank 1, and the refrigeration tank 1 is an existing liquid nitrogen biological container and can provide a required low-temperature space for storing a freezing storage tube.
In this embodiment, the second suction nozzle 706 is located above the second robot 602, the second suction nozzle 706 is communicated with a second vacuum pump 708 through a second pipeline 707, the second vacuum pump 708 is communicated with one end of a second vacuum pipe 709, and the other end of the second vacuum pipe 709 passes through the workbench 2 and protrudes out of the upper surface of the workbench 2. The suction mechanism 7 is used for sucking the sample box 9 on the positioning mechanism 4.
In this embodiment, the turntable mechanism 8 includes a turntable 801 and a planetary plate 807, a first bearing 802 is installed at the center of the turntable 801, a rotating shaft 803 is installed on the first bearing 802, a second bearing 804 is installed at the top of the rotating shaft 803, the second bearing 804 is fixed on a support 805, the support 805 is fixed on the worktable 2, a third circular through hole 806 is opened on the turntable 801, a planetary plate 807 is arranged on the third circular through hole 806, a support shaft is installed on the planetary plate 807, a support shaft bearing is installed on the support shaft, the support shaft bearing is fixed on the lower surface of the planetary plate 807, an external tooth structure is arranged on the outer ring of the planetary plate 807, a third gear 808 meshed with the planetary plate is arranged on the outer periphery of the planetary plate 807, the third gear 808 is connected with an output shaft of a fifth motor 809, the fifth motor 809 is fixed on a motor mounting seat 810, the motor mount 810 is fixed to the table 2.
In this embodiment, an outer ring of the turntable 801 is provided with an external tooth structure, a fourth gear 811 meshed with the turntable 801 is arranged on the outer periphery of the turntable 801, the fourth gear 811 is connected with an output shaft of a sixth motor 812, the sixth motor 812 is fixed on a motor mounting seat 813, the motor mounting seat 813 is fixed on the workbench 2, a plurality of rollers 814 are uniformly arranged on the outer periphery of the turntable 801, the rollers 814 are fixed on a push block 815, one end of the push block 815 is connected with a piston rod of a cylinder 816, and the cylinder 816 is fixed on the workbench 2. The turntable mechanism 8 is used for driving the planetary disc and the positioning mechanism 4 to move along the circumferential direction, and the planetary disc can rotate around the self axis, so that the planetary disc can rotate around the self supporting column shaft along with the rotation of the turntable, and simultaneously, the planetary disc can rotate around the self supporting column shaft, namely, performs planetary motion.
When the invention is used, the third Z-direction linear module 619 works to drive the component arranged on the sliding block to move upwards, when the second mechanical arm 602 moves to a position corresponding to the placing chamber, the third motor 609 works to drive the second gear 608 arranged on the output shaft of the third Z-direction linear module to rotate, the second gear 608 is in meshing transmission with the second rack 607, so that the second gear 608 and the mechanical arm fixing plate 601 move towards the placing chamber along the second rack 607, the second mechanical arm 602 arranged on the mechanical arm fixing plate 601 moves along with the second gear, when the second mechanical arm 602 moves to a sample box arranged on the placing chamber, the second mechanical arm 602 acts to clamp the sample box, the third motor 609 rotates reversely to drive the second gear 608 to rotate, so that the second gear 608 and the mechanical arm fixing plate 601 move along the second rack 607 to reset, the third Z-direction linear module 619 works to drive the component arranged on the sliding block to move upwards, when the sample box is moved to the lifting mechanism 5, the fourth motor 613 operates to drive 614 to rotate, so that the second screw nut 616 and the second connecting block 617 move along the direction of the second screw 614, the second manipulator 602 clamping the sample box moves to the circular lifting plate 505 along with the movement, the third motor 609 operates to drive the second gear 608 mounted on the output shaft of the third motor to rotate, the second gear 608 is in meshing transmission with the second rack 607, so that the second manipulator 602 clamping the sample box moves to the upper side of the circular lifting plate 505 along the second rack 607, when the second manipulator 602 moves to the upper side of the circular lifting plate 505, the second manipulator 602 acts to release the sample box, the sample box falls onto the circular lifting plate 505, the second Z-direction linear module 508 operates to drive the circular lifting plate 505 and the sample box placed on the circular lifting plate 505 to move upwards, the sample box moves to the upper part of the cylinder 501, and the first Z-direction linear module 307 operates, the components mounted on the sliding block are driven to move downwards, when the first mechanical arm 301 moves to the first opening 503, the X-direction linear module 305 works and drives, the first mechanical arm 301 moves towards the sample box in the cylinder 501 and moves to the sample box, the first mechanical arm 301 acts to clamp the sample box, the X-direction linear module 305 works and drives the first mechanical arm 301 clamped with the sample box to reset, the first mechanical arm 301 works and drives the components mounted on the sliding block to move upwards, after moving to a certain height, the X-direction linear module 305 works and drives the first mechanical arm 301 clamped with the sample box to move towards the placing plate 401, after moving to the place plate 401, the first mechanical arm 301 acts to place the sample box on the placing plate 401, the second motor 412 works and drives the first lead screw 413 to rotate, so that the first lead screw nut 415 and the first connecting block 416 move along the first lead screw 413 direction, the placing plate 401 and the sample box 9 placed on the placing plate 401 move, when the vial in the sample box 9 moves to a position right below the first suction nozzle 701, the first vacuum pump 703 operates to enable the first suction nozzle 701 to suck the vial on the sample box 9, the vial falls into the storage duct of the refrigeration tank 1 along the first vacuum pipe 705 under the action of the first vacuum pump 703, the operations are repeated, the first suction nozzle 701 and the first vacuum pump 703 cooperate with the positioning mechanism 4 to suck the vial on the sample box 9 into the storage duct of the refrigeration tank 1 one by one, when the vial is filled in the storage duct, the sixth motor 812 operates to drive the fourth gear 811 to rotate, the fourth gear 811 drives the turntable 801 to rotate, meanwhile, the fifth motor 809 operates to drive the third gear 808 to rotate, the third gear 808 drives the planetary plate 807 to rotate, the sucking mechanism 7 on the planetary plate 807 also rotates, thereby placing the first vacuum tube 705 in communication with another storage conduit within the refrigeration canister 1. When the vial on the storage cabinet 621 needs to be taken out, the third motor 609, the fourth motor 613 and the third Z-direction linear module 619 work to drive the second manipulator 602 to move, move to the storage chamber on the storage cabinet 621, the second manipulator 602 acts to clamp the sample box 9 in the storage chamber, the third motor 609, the fourth motor 613 and the third Z-direction linear module 619 work to drive the second manipulator 602 and the sample box 9 to move, when the vial to be taken out on the sample box 9 moves to the right below of the second suction nozzle 706, the vial on the sample box 9 is sucked by the second vacuum pump 708 work, and therefore the vial on the storage cabinet 621 can be taken out. When the cryopreserved pipe in the refrigerating tank 1 needs to be taken out, at first, the fifth motor 809 and the sixth 812 work drive the second suction nozzle 706 to move, move to place and wait to take out on the storage catheter of cryopreserved pipe, the work of first vacuum pump 703 is with cryopreserved pipe suction, the cryopreserved pipe of suction falls into the sample box on placing the board 401, the work of first vacuum pump 703 repetition is with cryopreserved pipe suction in the storage catheter, and the cooperation positioning mechanism 4 is with the cryopreserved pipe of suction place in the sample box 9 one by one, until the cryopreserved pipe suction that will wait to take out, thereby can take out the cryopreserved pipe on the refrigerating tank 1.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a dark low temperature biological sample storage device, includes PLC controller, cold-stored jar (1), workstation (2), snatchs mechanism (3), positioning mechanism (4), elevating system (5), presss from both sides and gets mechanism (6), suction means (7) and carousel mechanism (8), its characterized in that: the top of the refrigeration tank (1) is provided with a workbench (2), a first circular through hole (21) is formed in the workbench (2), a turntable mechanism (8) is arranged on the first circular through hole (21), a positioning mechanism (4) is installed on the turntable mechanism (8), a grabbing mechanism (3) is arranged on one side of the turntable mechanism (8), a second circular through hole (22) is further formed in the workbench (2), the second circular through hole (22) is located below the grabbing mechanism (3), a lifting mechanism (5) is arranged on the second circular through hole (22), a clamping mechanism (6) is arranged below the lifting mechanism (5), and the PLC is respectively connected with the grabbing mechanism (3), the positioning mechanism (4), the lifting mechanism (5), the clamping mechanism (6), a suction mechanism (7) and the turntable mechanism (8), so as to control the grabbing mechanism (3), the positioning mechanism (4), the lifting mechanism (5), the clamping mechanism (6), the suction mechanism (7) and the turntable mechanism (8) to work.
2. The cryogenic biological specimen storage device of claim 1, wherein: snatch mechanism (3) and include first manipulator (301), install on hypoplastron (302) first manipulator (301), the one end of hypoplastron (302) is provided with riser (303) perpendicularly, upper plate (304) are installed to the top of riser (303), upper plate (304), riser (303) and hypoplastron (302) concatenation form the U-shaped structure, upper plate (304) are fixed on the slider of X to linear module (305), the upper end at L shaped plate (306) is fixed to linear module (305) to X, the lower extreme of L shaped plate (306) is fixed on the slider of first Z to linear module (307), vertical the installing in frame (308) is gone up to linear module (307) to first Z, frame (308) are fixed on workstation (2).
3. The cryogenic biological specimen storage device of claim 1, wherein: the positioning mechanism (4) comprises a placing plate (401) for placing the sample box (9), a plurality of placing grooves are uniformly arranged on the sample box (9), each placing groove is internally provided with a freezing tube, two ends of the lower surface of the placing plate (401) are respectively provided with a first sliding block (402), the two first sliding blocks (402) are respectively arranged on corresponding first sliding rails (403), the two first sliding rails (403) are respectively fixed on corresponding first cushion blocks (404), the two first cushion blocks (404) are respectively fixed at two ends of a first moving plate (405), wherein a first rack (406) is arranged on one first cushion block (404), the first rack (406) is meshed and connected with a first gear (407), the first gear (407) is mounted on an output shaft of a first motor (408), and the first motor (408) is fixed on the upper surface of the placing plate (401).
4. The cryogenic biological specimen storage device of claim 1, wherein: second sliders (409) are respectively installed at two ends of the lower surface of the first moving plate (405), the second sliders (409) are respectively arranged on corresponding second sliding rails (410), the second sliding rails (410) are respectively fixed at two ends of a first bottom plate (411), a second motor (412) is installed on the first bottom plate (411), the second motor (412) is located between two guide rails (410), an output shaft of the second motor (412) is connected with a first lead screw (413), two ends of the first lead screw (413) are respectively fixed on a first shaft support (414), a first lead screw nut (415) is sleeved on the first lead screw (413), the first lead screw nut (415) is fixed on a first connecting block (416), and the first connecting block (416) is fixed on the lower surface of the first moving plate (405).
5. The cryogenic biological specimen storage device of claim 2, wherein: elevating system (5) includes hollow drum (501), drum (501) top is provided with apron (502), first opening (503) have been seted up to the upper end of drum (501), first opening (503) are located the top of workstation (2), the bottom of drum (501) is provided with second opening (504), be provided with circular lifter plate (505) in drum (501), the bottom of circular lifter plate (505) is provided with support column (506), the bottom of support column (506) is fixed on L shape layer board (507), L shape layer board (507) are installed on the slider of second Z to linear module (508), second Z is fixed on module mounting panel (509) to linear module (508), the vertical lower surface at workstation (2) of fixing of module mounting panel (509).
6. The cryogenic biological specimen storage device of claim 1, wherein: the clamping mechanism (6) comprises a mechanical arm fixing plate (601), a placing cabinet (621) is arranged on one side of the mechanical arm fixing plate (601), a plurality of placing chambers are sequentially partitioned from top to bottom through partition plates, a second mechanical arm (602) is arranged on the mechanical arm fixing plate (601), third sliding blocks (603) are respectively installed at two ends of the lower surface of the mechanical arm fixing plate (601), the two third sliding blocks (603) are respectively arranged on corresponding third sliding rails (604), the two third sliding rails (604) are respectively fixed on corresponding second cushion blocks (605), the two second cushion blocks (605) are respectively fixed at two ends of a second moving plate (606), one of the second cushion blocks (605) is provided with a second rack (607), and the second rack (607) is meshed with a second gear (608), the second gear (608) is installed on an output shaft of a third motor (609), and the third motor (609) is fixed on the upper surface of the manipulator fixing plate (601).
7. The cryogenic biological specimen storage device of claim 1, wherein: the two ends of the lower surface of the second moving plate (606) are respectively provided with a fourth sliding block (610), the two fourth sliding blocks (610) are arranged on corresponding fourth sliding rails (611), the two fourth sliding rails (611) are respectively fixed at the two ends of the first bottom plate (612), the first bottom plate (612) is provided with a fourth motor (613), the fourth motor (613) is positioned between the two guide rails (611), an output shaft of the fourth motor (613) is connected with a second lead screw (614), the two ends of the second lead screw (614) are respectively fixed on a second shaft support (615), a second lead screw nut (616) is sleeved on the second lead screw (614), the second lead screw nut (616) is fixed on a second connecting block (617), and the second connecting block (617) is fixed at the lower surface of the second moving plate (606).
8. The cryogenic biological specimen storage device of claim 1, wherein: the suction mechanism (7) comprises a first suction nozzle (701) and a second suction nozzle (706), the first suction nozzle (701) is communicated with a first vacuum pump (703) through a first pipeline (702), the first vacuum pump (703) is fixed on a support (704), the support (704) is fixed on a planetary disc (807), the first vacuum pump (703) is communicated with one end of a first vacuum pipe (705), the other end of the first vacuum pipe (705) is communicated with a refrigeration tank (1), the refrigeration tank (1) is in a cylindrical shape, and a plurality of storage guide pipes are uniformly arranged inside the refrigeration tank (1).
9. The cryogenic biological specimen storage device of claim 1, wherein: the turntable mechanism (8) comprises a turntable (801) and a planetary disc (807), a first bearing (802) is installed at the center of the turntable (801), a rotating shaft (803) is installed on the first bearing (802), a second bearing (804) is installed at the top of the rotating shaft (803), the second bearing (804) is fixed on a support (805), the support (805) is fixed on the workbench (2), a third circular through hole (806) is formed in the turntable (801), the planetary disc (807) is arranged on the third circular through hole (806), a support shaft is arranged on the planetary disc (807), a support shaft bearing is installed on the support shaft and fixed on the lower surface of the planetary disc (807), an outer ring of the planetary disc (807) is provided with an outer tooth structure, and a third gear (808) meshed with the planetary disc is arranged on the periphery of the planetary disc (807), the third gear (808) is connected with an output shaft of a fifth motor (809), the fifth motor (809) is fixed on a motor mounting seat (810), and the motor mounting seat (810) is fixed on the workbench (2).
10. The cryogenic biological specimen storage device of claim 1, wherein: the outer lane of carousel (801) is provided with the external tooth structure, be provided with fourth gear (811) rather than the meshing on the periphery of carousel (801), fourth gear (811) and the output shaft of sixth motor (812), sixth motor (812) are fixed on motor mount pad (813), motor mount pad (813) are fixed on workstation (2), a plurality of gyro wheels (814) have evenly been arranged to the periphery of carousel (801), gyro wheel (814) are fixed on ejector pad (815), the one end and the piston rod of cylinder (816) of ejector pad (815) are connected, cylinder (816) are fixed on workstation (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911279057.9A CN111086812A (en) | 2019-12-13 | 2019-12-13 | Biological sample storage facilities of dark low temperature |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911279057.9A CN111086812A (en) | 2019-12-13 | 2019-12-13 | Biological sample storage facilities of dark low temperature |
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| CN201911279057.9A Pending CN111086812A (en) | 2019-12-13 | 2019-12-13 | Biological sample storage facilities of dark low temperature |
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| CN111532651A (en) * | 2020-07-10 | 2020-08-14 | 基点生物科技(成都)有限公司 | Pipe picking work station |
| CN111919837A (en) * | 2020-09-02 | 2020-11-13 | 贵州医科大学 | Biological sample cryopreservation device convenient to access |
| CN112494228A (en) * | 2020-11-19 | 2021-03-16 | 贵州华宁科技股份有限公司 | Pre-hospital emergency system |
| CN113203599A (en) * | 2021-04-28 | 2021-08-03 | 杭州百桥医疗技术有限公司 | Full-automatic biological sample partial shipment device |
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