CN114030876A

CN114030876A - Grabbing mechanism and sample storage system comprising same

Info

Publication number: CN114030876A
Application number: CN202111360691.2A
Authority: CN
Inventors: 石海; 胡佩俊; 鲍海静; 罗沉
Original assignee: Shanghai Electric Group Corp
Current assignee: Shanghai Electric Group Corp
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-02-11
Anticipated expiration: 2041-11-17
Also published as: CN114030876B

Abstract

The invention discloses a grabbing mechanism and a sample storage system comprising the grabbing mechanism, wherein the grabbing mechanism comprises a grabbing device, a temporary storage device and a shovel disc device, the grabbing device comprises a first clamping part for grabbing the storage device, the temporary storage device comprises a temporary storage rack for accommodating a plurality of sample boxes, the shovel disc device is used for extracting the sample boxes in the storage device or storing the sample boxes into the storage device, and the temporary storage rack and the shovel disc device can move along a first direction relative to the grabbing device. Temporary storage device and shovel dish device can be independent of grabbing device and move along the first direction to at the in-process of sample box transfer, need not grab the whole first direction removal of following of mechanism, but only control the required temporary storage frame of sample box transfer and the removal of shovel dish device along the first direction, improve the flexibility of grabbing the mechanism, reduce drive power, practice thrift the cost. And grabbing device, temporary storage device and shovel dish device are independent each other, make things convenient for modular repair and change, improve maintenance efficiency, reduce cost of maintenance.

Description

Grabbing mechanism and sample storage system comprising same

Technical Field

The invention relates to the field of low-temperature sample storage and transfer, in particular to a grabbing mechanism and a sample storage system comprising the grabbing mechanism.

Background

The conventional automatic low-temperature sample library is generally divided into a buffer area and a low-temperature storage area, and the low-temperature storage area is further divided into a mechanical area and a sample storage area. The mechanical area and the sample storage area are separated by a large heat insulation plate, the upper part is the mechanical area, the sample boxes are distributed in the sample storage area below in an array form, and the transfer and grabbing mechanisms are distributed in the mechanical area to transfer, grab and store the sample boxes. The process of the sample box entering the sample storage area is as follows: the sample is put into a buffer area from a transfer window, enters a mechanical area of a low-temperature storage area through a switch door between the buffer area and the mechanical area, and is put into a sample storage area (specifically, refer to a patent application with a publication number of CN111634567A and a name of a storage system). The transfer of the sample during the process of entering the machine section is accomplished by a transfer device in the machine section, and the sample cartridge is finally placed into the lower sample storage section by the grasping mechanism. When the sample box is transferred and stored in a large batch, on one hand, the transfer stability of the sample is ensured, and on the other hand, the transmission efficiency is improved. Generally when saving big batch sample, can not go on one by one to the transfer of sample, and can set up the frame of keeping in the centre, move the sample to the frame of keeping in, again with the sample box immigration below storage area on the frame of keeping in.

Patent application publication No. CN111606037A discloses a grabbing device, in which a grabbing device, a shovel plate structure and a temporary storage rack are integrated into a module, although the structure looks as compact, the transmission is not flexible in practice, if there is a problem with a part, the whole needs to be removed for repair, the repair and replacement are complicated, and the maintenance cost is high. And when storing the sample box in different areas, the whole module needs to be moved, and the flexibility is poor.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a grabbing mechanism and a sample storage system comprising the grabbing mechanism.

The invention solves the technical problems through the following technical scheme:

a grasping mechanism for grasping and transferring a sample cartridge contained in a storage device, the grasping mechanism comprising:

the grabbing device comprises a first clamping part, and the first clamping part is used for being connected with the storage device so as to grab the storage device;

the temporary storage device comprises a temporary storage frame, the temporary storage frame is provided with an accommodating space capable of accommodating a plurality of sample boxes, the temporary storage frame can move along a first direction relative to the gripping device, and the first direction is parallel to a horizontal plane;

the shovel disc device is arranged opposite to the extracting opening of the storage device and used for extracting the sample box in the storage device or storing the sample box in the storage device, and the shovel disc device can move along a first direction relative to the grabbing device.

In this scheme, the main effect of grabbing device is exactly that corresponding position in storage space draws or deposits storage device, and the transfer of sample box between buffer memory and grabbing device relies on temporary storage device and shovel dish device to realize, and temporary storage rack can hold a plurality of sample boxes simultaneously, realizes the batch transfer of sample box. Temporary storage device and shovel dish device can follow the first direction for grabbing device and remove, and temporary storage device and shovel dish device can be independent of grabbing device promptly and move along the first direction to at the in-process of sample box transfer, need not grab whole the moving along the first direction of mechanism, but only control the required temporary storage frame of sample box transfer and the removal of shovel dish device along the first direction, improve the flexibility of grabbing the mechanism, reduce drive power, practice thrift the cost. And grabbing device, temporary storage device and shovel dish device are independent each other, make things convenient for modular repair and change, improve maintenance efficiency, reduce cost of maintenance.

Preferably, the grabbing mechanism further comprises a moving frame, the moving frame can move along a second direction, and the second direction and the first direction are perpendicular to each other in the same horizontal plane; the grabbing device and/or the temporary storage device and/or the shovel disc device are/is installed on the moving frame so as to move synchronously along a second direction along with the moving frame.

In this scheme, moving frame is used for realizing the removal of grabbing device and/or temporary storage device and/or shovel dish device in the second side, and grabbing device and/or temporary storage device and/or shovel dish device rely on moving frame synchronous motion, can reduce drive arrangement's quantity, simplifies the holistic structure of mechanism of grabbing, reduce cost.

Preferably, the shovel disc device is connected with the temporary storage rack, and the shovel disc device is arranged to be capable of moving synchronously along a first direction along with the temporary storage rack.

In this scheme, the shovel set device is connected with the frame of keeping in to make the shovel set device can follow the frame synchronous motion of keeping in, can not set up the drive arrangement that drives the shovel set device and remove along the first direction in addition, simplify the structure, and make the structure compacter.

Preferably, the gripping mechanism includes a first driving device, and the first driving device is connected to the temporary storage rack and is configured to drive the temporary storage rack and the blade disc device to move in a first direction relative to the gripping device.

In this scheme, first drive arrangement is used for the drive to keep in frame and shovel dish device for grabbing device along the removal of first direction, realizes keeping in frame and shovel dish device for grabbing device's independent removal, thereby and at the in-process of sample box transfer, need not snatch whole first direction removal of following of mechanism, but only control the required frame and the shovel dish device of keeping in of sample box transfer and remove along the first direction, improve the flexibility of snatching the mechanism, reduce drive power, practice thrift the cost.

Preferably, the first driving device includes a first power element, a first moving portion and a first fixing portion, the first moving portion is connected to the temporary storage frame, the first fixing portion is connected to the moving frame, the first moving portion is matched with the first fixing portion, and the first power element is connected to the first moving portion and is configured to drive the first moving portion to move along a first direction.

In this scheme, the first power component drives the first moving portion to move along the first direction, and then drives the temporary storage frame connected with the first moving portion to move along the first direction, so that the shovel disc device connected with the temporary storage frame moves along the first direction.

Preferably, the grabbing mechanism further comprises a second driving device, and the second driving device is connected with the shovel disc device and is used for driving the shovel disc device to move along a third direction, and the third direction is parallel to the vertical direction.

In this scheme, the second drive arrangement is used for driving the removal of shovel dish device in the third direction, realizes the regulation of shovel dish device in the direction of height.

Preferably, the temporary storage device further comprises a first mounting frame, and the temporary storage frame, the shovel disc device and the second driving device are all mounted on the first mounting frame.

In this scheme, above-mentioned setting makes frame, shovel dish device and the second drive arrangement of keeping in move along the first direction in step, guarantees the relative position between shovel dish device and the second drive arrangement, guarantees the stability of shovel dish device removal in the third direction.

Preferably, the second driving device includes a second power element, a second moving portion and a second fixing portion, the second moving portion is connected to the blade device, the second fixing portion is connected to the first mounting bracket, the second moving portion is matched to the second fixing portion, and the second power element is connected to the second moving portion and is configured to drive the second moving portion to move in a third direction.

In this scheme, the second power element drives the second moving portion to move along the third direction, and then drives the shovel plate device connected with the second moving portion to move along the third direction.

Preferably, the grabbing mechanism further comprises a first guiding portion, the first guiding portion comprises a first slider and a first sliding rail, the first slider is mounted on the shovel disc device, the first sliding rail is mounted on the first mounting frame, the first slider is matched with the first sliding rail, and the first sliding rail extends along a third direction.

In this scheme, first guide part is used for guiding the removal of shovel dish device in the third direction, prevents the skew that shovel dish device produced at the removal in-process, improves the removal precision of shovel dish device.

Preferably, the storage device comprises a plurality of storage assemblies connected in series, the gripping device comprises a plurality of first clamping portions, the plurality of first clamping portions are sequentially arranged along a first direction, the gripping device further comprises a second clamping portion, the second clamping portion is used for being connected with a subsection of the storage assembly, and the first clamping portion and the second clamping portion can relatively move in the first direction, so that the storage assembly to be disassembled moves to one side gripped by the corresponding first clamping portion, and the disassembly is realized; the first clamping part or the second clamping part can move along a third direction, and the third direction is parallel to the vertical direction.

In this scheme, through the cooperation between first clamping part and the second clamping part, snatch the split into the parallel connection with the storage subassembly of establishing ties, and then carry out the extraction or deposit of sample box, reduce the time of extracting or depositing, improve space utilization, reduce the energy consumption.

Preferably, the second clamping portion is connected with the temporary storage frame, and the second clamping portion is configured to be capable of moving synchronously along a first direction along with the temporary storage frame.

In this scheme, the second clamping part is connected with the frame of keeping in to make the second clamping part can follow the frame synchronous motion of keeping in, can need not to set up the drive arrangement that drives the second clamping part and remove along the first direction in addition, simplify the structure, and make the structure compacter.

Preferably, the second clamping portion includes a first latch and a second latch, and the first latch and the second latch are capable of moving relatively.

In this scheme, the second clamping part can grasp and release the storage device through the relative movement between the first clamping tooth and the second clamping tooth.

Preferably, the grabbing mechanism further comprises a third driving device, and the third driving device is connected with the first clamping portion and is used for driving the first clamping portion to move along the first direction.

In this scheme, the third driving device drives the first clamping part to move along the first direction, so that other first clamping parts can move right above the second clamping part, and the storage assembly to be disassembled is obtained from the second clamping part.

Preferably, the gripping device further comprises a second mounting frame, and the plurality of first clamping parts are all mounted on the second mounting frame; the third driving device comprises a third power element, a third moving part and a third fixing part, the third moving part is connected with the second mounting frame, the third fixing part is connected with the moving frame, the third moving part is matched with the third fixing part, and the third power element is connected with the third moving part and used for driving the third moving part to move along the first direction.

In this scheme, the third power component drives the third moving portion to move along the first direction, and then drives the movement of the second mounting bracket connected with the third moving portion, and the plurality of first clamping portions are all installed on the second mounting bracket, so that the synchronous movement of the plurality of first clamping portions can be realized through the movement of the second mounting bracket.

Preferably, the grabbing mechanism further comprises a plurality of fourth driving devices, and each fourth driving device is connected to one of the first clamping portions and is configured to drive the corresponding first clamping portion to move along a third direction.

In this scheme, the fourth drive arrangement drives first clamping part and removes for first clamping part can snatch the storage component who treats the split.

Preferably, the fourth driving device includes a fourth power element, a fourth driving member, a fourth driven member and a fourth synchronous belt, the fourth driving member and the fourth driven member are installed on the second mounting bracket, the fourth driving member and the fourth driven member are correspondingly disposed up and down, the fourth synchronous belt is connected between the fourth driving member and the fourth driven member, the first clamping portion is connected with the fourth synchronous belt, and the fourth power element is connected with the fourth driving member for driving the fourth driving member to rotate.

In this scheme, the fourth power component drives the fourth driving piece to rotate, and the fourth driving piece drives the fourth driven piece to rotate through the fourth synchronous belt, and because the fourth driving piece and the fourth driven piece are correspondingly arranged up and down, the synchronous belt can move up and down, so that the first clamping part connected with the synchronous belt moves up and down, the whole structure is simple, and the transmission is stable.

Preferably, the grabbing device further comprises a plurality of second guide portions, the number of the second guide portions corresponds to the number of the first clamping portions, the second guide portions are arranged at the lower ends of the first clamping portions, and the second guide portions are provided with through holes which are through in the third direction, so that the first clamping portions and the storage device can pass through the through holes.

In this scheme, the length of the storage device in the third direction is generally long, and the storage device is easy to shift during movement. The second guide part can guide the movement of the storage device in the third direction, and reduce the interference between the storage components.

Preferably, the shovel disc device includes a shovel disc seat and a shovel disc, the shovel disc is arranged on the shovel disc seat and movably connected with the shovel disc seat, the shovel disc can move in a fourth direction to extend out of the shovel disc seat to enter the storage device, and the fourth direction is parallel to the horizontal plane.

In this scheme, the shovel dish device is used for realizing the transfer of sample box between grabbing device, temporary storage device, buffer.

Preferably, the grabbing mechanism further comprises a fifth driving device, and the fifth driving device is connected with the shovel plate seat and is used for driving the shovel plate seat to rotate around a first rotating shaft, and the first rotating shaft is parallel to the vertical direction.

In this scheme, it is rotatory through fifth drive arrangement drive shovel dish seat, and then the drive sets up the synchronous rotation of shovel dish on the shovel dish seat, make the shovel dish export can rotate to the different positions on the same horizontal plane, but rather than aim at storage device's the mouth that draws all the time, thereby can adjust the entry of shovel dish export to aiming at the buffer memory, from this the shovel dish can stretch into in the buffer memory from the entry of buffer memory, in order to draw or deposit the sample box, realize the direct transfer between shovel dish device and the buffer memory, and then can need not set up the transfer device between shovel dish device and the buffer memory in addition, the simplified structure, and the cost is reduced.

Preferably, the shovel disc device further includes a fixing frame, the fifth driving device includes a fifth power element, a fifth driving member, a fifth driven member and a fifth synchronous belt, the fifth driving member is installed on the fixing frame, the fifth driven member is installed on the shovel disc seat, the fifth synchronous belt is connected between the fifth driving member and the fifth driven member, and the fifth power element is connected with the fifth driving member and is configured to drive the fifth driving member to rotate.

In this scheme, the fifth driving part is driven to rotate by the fifth power element, the fifth driving part drives the fifth driven part to rotate through the fifth synchronous belt, and then the shovel disc seat connected with the fifth driven part is driven to rotate, so that the whole structure is simple, and the transmission is stable.

Preferably, the grabbing mechanism further comprises a sixth driving device, and the sixth driving device is connected with the shovel disc and is used for driving the shovel disc to move along the fourth direction so as to extend out of the shovel disc seat.

In this scheme, the sixth drive arrangement is used for driving the removal of shovel dish relative to shovel dish seat to realize the extraction or the depositing of sample box.

Preferably, the sixth driving device comprises a sixth power element and a rotating member, one end of the rotating member is connected with the sixth power element, the other end of the rotating member is connected with the shovel disc, the rotating member is used for driving the rotating member to rotate around a second rotating shaft, and the second rotating shaft is parallel to the vertical direction;

the shovel disc device further comprises a third guide portion, the third guide portion comprises a third sliding rail and a third sliding block, the third sliding rail is fixed to the shovel disc seat and extends in the first direction, the third sliding block is fixed to the shovel disc, and the third sliding block is matched with the third sliding rail.

In this scheme, the sixth power component is rotatory through the drive rotating member, and then the drive with the shovel dish that the rotating member is connected remove, the third guide part can restrict the moving direction of shovel dish, becomes linear motion with the rotary motion of shovel dish, guarantees the removal precision of shovel dish to improve and draw or deposit the precision nature of sample.

The utility model provides a sample storage system, sample storage system includes buffer memory and storage area, the buffer memory orientation the one end in storage area is equipped with the opening, be equipped with in the storage area as above snatch the mechanism.

In the scheme, the grabbing mechanism is used for transferring the sample box between the buffer area and the storage area so as to realize low-temperature storage of the sample.

The positive progress effects of the invention are as follows: temporary storage device and shovel dish device can follow the first direction for grabbing device and remove, and temporary storage device and shovel dish device can be independent of grabbing device promptly and move along the first direction to at the in-process of sample box transfer, need not grab whole the moving along the first direction of mechanism, but only control the required temporary storage frame of sample box transfer and the removal of shovel dish device along the first direction, improve the flexibility of grabbing the mechanism, reduce drive power, practice thrift the cost. And grabbing device, temporary storage device and shovel dish device are independent each other, make things convenient for modular repair and change, improve maintenance efficiency, reduce cost of maintenance.

Drawings

Fig. 1 is a schematic perspective view of a sample storage system according to an embodiment of the invention.

Fig. 2 is a schematic perspective view of a gripping mechanism according to an embodiment of the present invention.

Fig. 3 is another schematic perspective view of the grasping mechanism according to an embodiment of the invention.

Fig. 4 is a schematic perspective view of a moving frame according to an embodiment of the invention.

Fig. 5 is a schematic perspective view of a combination of a temporary storage device and a shovel device according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view illustrating a temporary storage device according to an embodiment of the invention.

Fig. 7 is another schematic perspective view of a temporary storage device according to an embodiment of the invention.

Fig. 8 is a schematic perspective view of a combination of a gripping device and a temporary storage device according to an embodiment of the invention.

Fig. 9 is a schematic perspective view of a gripping device according to an embodiment of the present invention.

Fig. 10 is another perspective view of a gripping device according to an embodiment of the present invention.

Fig. 11 is a schematic perspective view of a shovel plate device according to an embodiment of the present invention.

Fig. 12 is another perspective view of the shovel plate device according to an embodiment of the invention.

Fig. 13 is a schematic perspective view of a shovel plate according to an embodiment of the present invention.

Description of reference numerals:

buffer 1

Opening 11

Storage device 2

Gripping device 3

First clamping part 31

Claw 311

Second mounting bracket 32

Temporary storage device 4

Temporary storage rack 41

First mounting bracket 42

Shovel plate device 5

Shovel plate base 51

Shovel plate 52

Fixed frame 53

Moving frame 6

Supporting frame 7

Second clamping part 8

First latch 81

Second latch 82

First rotating electric machine 911

First gear 912

First rack 913

Second rotating electric machine 921

Second gear 922

Second rack 923

Third rotating electric machine 931

Third gear 932

Third rack 933

Fourth rotating electric machine 941

Fourth driving wheel 942

Fourth driven wheel 943

Fourth timing belt 944

Fifth drive wheel 951

Fifth driven wheel 952

Fifth synchronous belt 953

Sixth rotating electric machine 961

Rotating rod 962

Seventh gear 971

Seventh rack 972

First slider 1011

First slide rail 1012

Second guide part 102

Through hole 1021

Third slide rail 1031

Third slider 1032

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

It should be understood that the invention has been described using specific terms to describe embodiments of the application. The terms "first", "second", etc. are used to define the technical features only for the convenience of distinguishing the corresponding technical features, and the terms have no special meaning if not stated otherwise, and therefore, should not be construed as limiting the scope of the present invention.

As shown in fig. 1 and 2, the present embodiment discloses a sample storage system for storing a low-temperature sample. The sample storage system comprises a buffer area 1 and a storage area, wherein an opening 11 is formed in one end, facing the storage area, of the buffer area 1, the opening 11 is an inlet of the buffer area 1 entering the storage area and an inlet of the storage area entering the buffer area 1, and the buffer area 1 is communicated with the storage area, so that a sample box can move between the buffer area 1 and the storage area, and low-temperature storage of a sample is achieved. Specifically, the storage area is used for storing the sample box, and the inside of storage area is equipped with snatchs the mechanism for snatch and transport the sample box that holds in storage device 2, and the mechanism of snatching can remove the sample box in the storage area, realizes the removal of sample box between buffer 1 and storage area.

As shown in fig. 1 to 3, a storage space (not shown) and storage devices 2 are provided in the storage area, the storage devices 2 are arranged in the storage space in an array form, and the storage devices 2 are used for storing sample cartridges. The grabbing mechanism comprises a grabbing device 3, a temporary storage device 4 and a shovel disc device 5. A gripping device 3 is arranged above the storage space for gripping the storage device 2. Generally when storing big sample box in batches, can not go on one by one to the transfer of sample box, this embodiment sets up temporary storage device 4 for deposit temporarily from the sample box that takes out in storage device 2 or wait to deposit the sample box in storage device 2, make things convenient for sample box to shift the storage in batches, guarantee sample box's transfer stability, improve the efficiency that sample box shifted. The shovel disk device 5 is used for taking off the sample box from the storage device 2 grabbed by the grabbing device 3 to be transferred to the buffer area 1, or taking the sample box from the buffer area 1 to be transferred to the storage device 2 grabbed by the grabbing device 3.

As shown in fig. 2 and 3, the gripping device 3 includes a first clamping portion 31, and the first clamping portion 31 is used for connecting with the storage device 2 to grip the storage device 2. Specifically, the first clamping portion 31 in this embodiment includes a claw 311, the upper portion of the storage device 2 has a connecting portion (not shown in the figure) matching with the clamping direction, and the connection of the gripping device 3 and the storage device 2 is realized by the cooperation of the claw 311 of the first clamping portion 31 and the connecting portion of the storage device 2.

As shown in fig. 2 and 3, the buffer device 4 includes a buffer rack 41, the buffer rack 41 has an accommodating space capable of accommodating a plurality of sample cartridges, and the buffer rack 41 is capable of moving in a first direction (X direction in fig. 1) parallel to a horizontal plane with respect to the gripping device 3. Specifically, the temporary storage rack 41 in this embodiment is a hollow shell structure, and the inside of the temporary storage rack 41 is provided with an accommodating space capable of accommodating a plurality of sample boxes, so that the sample boxes are temporarily stored, batch transfer of the sample boxes is realized, and transfer efficiency of the sample boxes is improved. Wherein, the accommodation space that can hold a plurality of sample box that indicates in this embodiment means that this accommodation space can hold one or more sample box simultaneously, and accommodation space is big more, and the quantity of the sample box that can hold simultaneously is more, and then the quantity of the sample box that supports the transfer simultaneously is also more, can improve transfer efficiency when the sample box needs the transfer in batches.

As shown in fig. 2 and 3, the blade device 5 is disposed opposite to the extraction opening of the storage device 2, the blade device 5 is used for extracting a sample cartridge in the storage device 2 or storing the sample cartridge in the storage device 2, and the blade device 5 is movable in a first direction relative to the grasping device 3. Specifically, the extraction opening of the storage device 2 refers to an outlet on the storage device 2 for the sample cartridge to enter and exit, and the shovel device 5 can extend into the storage device 2 from the extraction opening to take out the sample cartridge located in the storage device 2, or the shovel device 5 can store the sample cartridge obtained from the buffer area 1 into the storage device 2.

The main effect of grabbing device 3 is that corresponding position in storage space draws or deposits storage device 2, and the transfer of sample box between buffer 1 and grabbing device 3 relies on temporary storage device 4 and shovel dish device 5 to realize, and temporary storage rack 41 can hold a plurality of sample boxes simultaneously, realizes the transfer in batches of sample box. Temporary storage device 4 and shovel dish device 5 can move along the first direction for grabbing device 3, and temporary storage device 4 and shovel dish device 5 can be independent of grabbing device 3 and move along the first direction promptly to in-process at the sample box transfer, need not grab whole the moving along the first direction of mechanism, but only control the required temporary storage frame 41 of sample box transfer and shovel dish device 5 and move along the first direction, improve the flexibility of grabbing the mechanism, reduce drive power, practice thrift the cost. And grabbing device 3, temporary storage device 4 and shovel dish device 5 are independent each other, make things convenient for modular repair and change, improve maintenance efficiency, reduce cost of maintenance.

As shown in fig. 2 to 4, the grasping mechanism further includes a moving frame 6, and the moving frame 6 is movable in a second direction (Y direction in fig. 1) that is perpendicular to the first direction in the same horizontal plane. The gripping device 3, the temporary storage device 4 and the blade device 5 are all mounted on the moving frame 6 to move synchronously along the second direction following the moving frame 6. Specifically, the upper end of the storage space is provided with a support frame 7, the moving frame 6 is mounted on the support frame 7, and the moving frame 6 can move in the second direction relative to the support frame 7. Moving frame 6 is used for realizing grabbing device 3, temporary storage device 4 and shovel dish device 5 at the ascending removal of second side, and grabbing device 3, temporary storage device 4 and shovel dish device 5 rely on moving frame 6 synchronous motion, can reduce drive arrangement's quantity, simplify and snatch the holistic structure of mechanism, reduce cost.

In other alternative embodiments, the gripping device 3, the buffer device 4 and the shovel device 5 may also be implemented in the second direction by means of other driving devices, and the gripping device 3, the buffer device 4 and the shovel device 5 may each be designed with a corresponding driving device to implement independent movement in the second direction, or may share one driving device with two or three of each other to implement synchronous movement in the second direction.

As shown in fig. 1 and 4, the gripping mechanism further comprises a seventh driving device, which is connected to the moving frame 6 for realizing the movement of the moving frame 6 in the second direction. The seventh driving device comprises a seventh power element, a seventh moving part and a seventh fixing part, the seventh moving part is connected with the moving frame 6, the seventh fixing part is connected with the supporting frame 7, the seventh moving part is matched with the seventh fixing part, and the seventh power element is connected with the seventh moving part and used for driving the seventh moving part to move along the second direction. The seventh power element drives the seventh moving portion to move in the second direction, and thus drives the moving frame 6 connected to the seventh moving portion to move in the second direction.

Specifically, the seventh power element in this embodiment includes a seventh rotating motor (not shown in the figure), the seventh moving portion includes a seventh gear 971, the seventh fixing portion includes a seventh rack 972, the seventh gear 971 is installed on a side surface of the moving frame 6 facing the support frame 7, the seventh rack 972 is installed on a side surface of the support frame 7 facing the moving frame 6 and extends in the second direction, the seventh gear 971 is engaged with the seventh rack 972, and the seventh rotating motor drives the seventh gear 971 to rotate, so that the seventh gear 971 moves on the seventh rack 972, and further the moving frame 6 moves in the second direction.

In other alternative embodiments, other drive devices capable of implementing the above-described functions may be selected as the seventh drive device.

As shown in fig. 3 and 5, the blade device 5 is connected to the temporary storage rack 41, and the blade device 5 is configured to be able to move synchronously along the first direction along with the temporary storage rack 41, so that a driving device for driving the blade device 5 to move along the first direction may not be additionally provided, the structure is simplified, and the structure is more compact. Specifically, the temporary storage device 4 includes the first mounting bracket 42, and the temporary storage rack 41 and the shovel device 5 are all installed on the first mounting bracket 42, so that the distance between the temporary storage rack 41 and the shovel device 5 can be reasonably arranged, the sample box can be conveniently extracted from the temporary storage rack 41 by the shovel device 5, or the sample box temporarily stored by the shovel device 5 can be placed into the temporary storage rack 41.

As shown in fig. 2 and 5-7, the gripping mechanism includes a first driving device, the first driving device is connected to the temporary storage rack 41 and is configured to drive the temporary storage rack 41 and the shovel device 5 to move along the first direction relative to the gripping device 3, so as to realize independent movement of the temporary storage rack 41 and the shovel device 5 relative to the gripping device 3, and thus, in the process of transferring the sample box, the entire gripping mechanism does not need to move along the first direction, but only the temporary storage rack 41 and the shovel device 5 required for transferring the sample box are controlled to move along the first direction, so that flexibility of the gripping mechanism is improved, driving force is reduced, and cost is saved.

The first driving device comprises a first power element, a first moving part and a first fixing part, the first moving part is connected with the temporary storage frame 41, the first fixing part is connected with the moving frame 6, the first moving part is matched with the first fixing part, and the first power element is connected with the first moving part and used for driving the first moving part to move along a first direction. The first power element drives the first moving portion to move along the first direction, and then drives the temporary storage rack 41 connected with the first moving portion to move along the first direction, so that the shovel disk device 5 connected with the temporary storage rack 41 moves along the first direction.

Specifically, the first power element in this embodiment includes a first rotating electrical machine 911, the first moving portion includes a first gear 912, the first fixing portion includes a first rack 913, the first gear 912 is mounted on the mounting bracket 42, the first rack 913 is mounted on the moving frame 6 and extends along the first direction, the first gear 912 is engaged with the first rack 913, and the first rotating electrical machine 911 drives the first gear 912 to rotate, so as to realize the movement of the first gear 912 on the first rack 913, and further realize the movement of the temporary storage device 4 and the shovel device 5 in the first direction.

In other alternative embodiments, other drive devices that can perform the above-described functions may be selected as the first drive device.

As shown in fig. 5, the grabbing mechanism further includes a second driving device, which is connected to the blade device 5 and is used for driving the blade device 5 to move along a third direction (Z direction in fig. 1) to adjust the blade device 5 in the height direction, where the third direction is parallel to the vertical direction.

As shown in fig. 5, the second driving device is also mounted on the first mounting frame 42, so that the temporary storage frame 41, the blade device 5 and the second driving device can move synchronously along the first direction, the relative position between the blade device 5 and the second driving device is ensured, and the stability of the movement of the blade device 5 in the third direction is ensured.

The second driving device comprises a second power element, a second moving portion and a second fixing portion, the second moving portion is connected with the shovel disc device 5, the second fixing portion is connected with the first mounting frame 42, the second moving portion is matched with the second fixing portion, and the second power element is connected with the second moving portion and used for driving the second moving portion to move along a third direction, so that the shovel plate device connected with the second moving portion is driven to move along the third direction.

Specifically, the second power element in this embodiment includes a second rotating electrical machine 921, the second moving portion includes a second gear 922, the second fixing portion includes a second rack 923, the second gear 922 is mounted on the blade device 5, the second rack 923 is mounted on the mounting bracket 42 and extends along the third direction, the second gear 922 is engaged with the second rack 923, the second rotating electrical machine 921 rotates through driving the second gear 922, the movement of the second gear 922 on the second rack 923 is realized, and the movement of the blade device 5 in the third direction is further realized.

In other alternative embodiments, other drive devices that can perform the above-described functions can be selected as the second drive device.

As shown in fig. 5 to 7, the grabbing mechanism further includes a first guiding portion, the first guiding portion includes a first slider 1011 and a first sliding rail 1012, the first slider 1011 is mounted on the blade device 5, the first sliding rail 1012 is mounted on the first mounting bracket 42, the first slider 1011 is engaged with the first sliding rail 1012, and the first sliding rail 1012 extends along the third direction. The first guide portion is used for guiding the movement of the shovel disc device 5 in the third direction, so that the shovel disc device 5 is prevented from shifting in the moving process, and the moving precision of the shovel disc device 5 is improved.

As shown in fig. 8 and 9, the storage device 2 includes a plurality of storage assemblies connected in series, the gripping device 3 includes a plurality of first clamping portions 31, the plurality of first clamping portions 31 are sequentially arranged along a first direction, the gripping device 3 further includes a second clamping portion 8, the second clamping portion 8 is used for being connected with a subsection of the storage assembly, the first clamping portion 31 and the second clamping portion 8 can relatively move in the first direction, so that the storage assembly to be disassembled moves to a side where the corresponding first clamping portion 31 grips, and the disassembly is realized; the first grip portion 31 or the second grip portion 8 is movable in a third direction, which is parallel to the vertical direction.

Specifically, a plurality of storage components are connected in series in the third direction, resulting in that the height of a column of storage devices 2 is too high, and if not split, the height between the gripping device 3 and the storage space needs to be designed to be a large value, and the space utilization rate is low. In the embodiment, the storage component is clamped by the second clamping part 8, and the relative position between the first clamping part 31 and the second clamping part 8 is adjusted by the relative movement of the first clamping part 31 and the second clamping part 8 in the first direction, so that the first clamping part 31 which does not clamp the storage component moves to the position right above the second clamping part 8, and then the storage component is clamped. This embodiment snatchs the split into the parallel connection with the storage module of establishing ties through the cooperation between first clamping part 31 and the second clamping part 8, and then carries out the extraction or depositing of sample box, reduces the time of extracting or depositing, improves space utilization, reduces the energy consumption.

As shown in fig. 6 to 8, the second clamp portion 8 is connected to the temporary storage rack 41, and the second clamp portion 8 is provided so as to be capable of following the temporary storage rack 41 to move synchronously in the first direction. Specifically, the second clamping portion 8 is disposed on a side of the temporary storage rack 41 facing the grasping assembly and below the first clamping portion 31. The second clamping portion 8 is connected with the temporary storage rack 41, so that the second clamping portion 8 can move synchronously with the temporary storage rack 41, a driving device for driving the second clamping portion 8 to move along the first direction does not need to be additionally arranged, the structure is simplified, and the structure is more compact.

As shown in fig. 7, the second clamping portion 8 includes a first latch 81 and a second latch 82, and the first latch 81 and the second latch 82 can move relatively to each other, so that the second clamping portion 8 can grasp and release the storage device 2.

As shown in fig. 3, 4 and 10, the grabbing mechanism further includes a third driving device, which is connected to the first clamping portion 31 and is used for driving the first clamping portion 31 to move along the first direction, so that other first clamping portions 31 can move to a position right above the second clamping portion 8, and the storage component to be detached is obtained from the second clamping portion 8.

As shown in fig. 10, the gripping device 3 further includes a second mounting frame 32, the plurality of first clamping portions 31 are mounted on the second mounting frame 32, and the movement of the second mounting frame 32 can realize the synchronous movement of the plurality of first clamping portions 31. The third driving device comprises a third power element, a third moving part and a third fixing part, the third moving part is connected with the second mounting frame 32, the third fixing part is connected with the moving frame 6, the third moving part is matched with the third fixing part, and the third power element is connected with the third moving part and used for driving the third moving part to move along the first direction and further driving the second mounting frame 32 connected with the third moving part to move.

Specifically, the third power element in this embodiment includes a third rotating motor 931, the third moving portion includes a third gear 932, the third fixing portion includes a third rack 933, the third gear 932 is mounted on the second mounting bracket 32, the third rack 933 is mounted on the moving frame 6 and extends in the first direction, the third gear 932 is engaged with the third rack 933, and the third rotating motor 931 drives the third gear 932 to rotate, so that the third gear 932 moves on the third rack 933, and thus the first clamping portions 31 mounted on the second mounting bracket 32 move in the first direction.

In other alternative embodiments, other drive devices capable of performing the above-described functions may be selected as the third drive device.

As shown in fig. 9 and 10, the gripping mechanism further includes a plurality of fourth driving devices, each of which is connected to one of the first clamping portions 31 for driving the corresponding first clamping portion 31 to move along the third direction. The fourth driving device drives the first clamping part 31 to move, so that the first clamping part 31 can grab the storage component to be disassembled.

The fourth driving device includes a fourth power element, a fourth driving member, a fourth driven member and a fourth synchronous belt 944, the fourth driving member and the fourth driven member are installed on the second mounting frame 32, the fourth driving member and the fourth driven member are vertically disposed in a corresponding manner, the fourth synchronous belt 944 is connected between the fourth driving member and the fourth driven member, the first clamping portion 31 is connected to the fourth synchronous belt 944, and the fourth power element is connected to the fourth driving member for driving the fourth driving member to rotate. The fourth power element drives the fourth driving part to rotate, the fourth driving part drives the fourth driven part to rotate through the fourth synchronous belt 944, and the fourth driving part and the fourth driven part are correspondingly arranged up and down, so that the synchronous belt can move up and down, and the first clamping part 31 connected with the synchronous belt moves up and down.

Specifically, the fourth power element in this embodiment includes a fourth rotating electric machine 941, the fourth driving member includes a fourth driving wheel 942, the fourth driven member includes a fourth driven wheel 943, both the fourth driving wheel 942 and the fourth driven wheel 943 are of a gear structure, the fourth synchronous belt 944 is engaged with the fourth driving wheel 942 and the fourth driven wheel 943, the fourth rotating electric machine 941 drives the fourth driving wheel 942 to rotate, the fourth driving wheel 942 drives the fourth driven wheel 943 to rotate through the fourth synchronous belt 944, and since the fourth driving wheel 942 and the fourth driven wheel 943 are correspondingly disposed up and down, the fourth synchronous belt 944 mainly moves in the up-down direction, so that the first clamping portion 31 connected to the fourth synchronous belt 944 can move in the third direction. The fourth timing belt 944 in this embodiment may be a transmission belt such as a chain or a belt.

In other alternative embodiments, other driving devices capable of implementing the above-described functions may be selected as the fourth driving device.

As shown in fig. 8 and 9, the grasping apparatus 3 further includes a plurality of second guide portions 102, the number of the second guide portions 102 corresponds to the number of the first clamping portions 31, the second guide portions 102 are correspondingly disposed at the lower ends of the first clamping portions 31, and the second guide portions 102 have through holes 1021, through which both ends of the first clamping portions 31 and the storage apparatus 2 pass, in the third direction. Since the storage device 2 is generally long in the third direction, it is easy to shift during the movement. The second guide portion 102 can guide the movement of the storage device 2 in the third direction, reducing interference between storage components.

As shown in fig. 11 to 13, the blade device 5 includes a blade base 51 and a blade 52, the blade 52 is provided on the blade base 51 and movably connected to the blade base 51, and the blade 52 is movable in a fourth direction (direction a in fig. 11) parallel to the horizontal plane to protrude out of the blade base 51 into the storage device 2. The shovel disc device 5 is used for transferring the sample boxes among the grabbing device 3, the temporary storage device 4 and the buffer area 1.

As shown in fig. 11, the grabbing mechanism further comprises a fifth driving device connected to the shovel plate base 51 for driving the shovel plate base 51 to rotate around a first rotation axis, which is parallel to the vertical direction.

The conventional blade device 5 is usually only used to store a sample cartridge into the gripping device 3 or to extract a sample cartridge from the gripping device 3, so that the blade outlet of the blade mount 51 is always oriented toward the gripping device 3. When the sample box is transferred between the shovel disc device 5 and the buffer area 1, other transfer devices are needed to realize the transfer, and the whole structure is troublesome and high in cost. This embodiment is rotatory through fifth drive arrangement drive shovel dish seat 51, and then the drive sets up shovel dish 52 synchronous rotation on shovel dish seat 51, make the shovel dish export can rotate to the different positions on the same horizontal plane, but rather than aim at storage device 2's the mouth that draws all the time, thereby can adjust the entry of shovel dish export to aiming at buffer memory 1, shovel dish 52 can stretch into buffer memory 1 from buffer memory 1's entry from this in, with drawing or depositing the sample box, realize the direct transfer between shovel dish device 5 and the buffer memory 1, and then can need not set up the transfer device between shovel dish device 5 and the buffer memory 1 in addition, the simplified structure, and cost is reduced.

As shown in fig. 11, the shovel disc device 5 further includes a fixed frame 53, the fifth driving device includes a fifth power element, a fifth driving member, a fifth driven member and a fifth synchronous belt 953, the fifth driving member is installed on the fixed frame 53, the fifth driven member is installed on the shovel disc base 51, the fifth synchronous belt 953 is connected between the fifth driving member and the fifth driven member, and the fifth power element is connected with the fifth driving member for driving the fifth driving member to rotate. The fifth driving part is driven by the fifth power element to rotate, the fifth driving part drives the fifth driven part to rotate through the fifth synchronous belt 953, and then the shovel disc seat 51 connected with the fifth driven part is driven to rotate. The shovel plate device 5 is mounted on the mounting frame 42 of the temporary storage device 4 through a fixing frame 53, and the shovel plate device 5 is prevented from being deviated integrally during the rotation of the shovel plate seat 51.

Specifically, fifth power component in this embodiment includes fifth rotating electrical machines, the fifth driving piece includes fifth action wheel 951, the fifth follower includes that the fifth is followed driving wheel 952, fifth action wheel 951 and fifth are the gear structure from driving wheel 952, fifth hold-in range 953 and fifth action wheel 951 and the meshing of fifth follow driving wheel 952, fifth rotating electrical machines drive fifth action wheel 951 is rotatory, fifth action wheel 951 drives the fifth through fifth hold-in range 953 and follows driving wheel 952 rotatoryly, and then the drive is rotatory from the shovel dish seat 51 of driving wheel 952 being connected with the fifth, overall structure is simple, the transmission is stable. The fifth timing belt 953 in the present embodiment may be a transmission belt such as a chain or a belt.

In other alternative embodiments, other driving devices capable of implementing the above-described functions may be selected as the fifth driving device.

The rotation of the blade holder 51 about the rotation axis is in an angular range of not less than 180 °. The larger the angle range in which the shovel base 51 can rotate is, the larger the moving range of the shovel outlet is, and the feasibility that the shovel outlet can be directly aligned with the cache area 1 is improved.

As shown in fig. 13, the grasping mechanism further includes a sixth driving device, which is connected to the shovel plate 52 and is used for driving the shovel plate 52 to move in the fourth direction to extend out of the shovel plate seat 51, so as to realize the extraction or storage of the sample box.

The sixth driving device comprises a sixth power element and a rotating member, one end of the rotating member is connected with the sixth power element, the other end of the rotating member is connected with the shovel disc 52, and the rotating member is used for driving the rotating member to rotate around a second rotating shaft which is parallel to the vertical direction. The sixth power element drives the rotation of the rotary member, and thus the shovel 52 connected to the rotary member. The blade tray device 5 further includes a third guide portion including a third slide rail 1031 and a third slider 1032 (not shown in the drawings), the third slide rail 1031 being fixed to the blade tray base 51 and extending in the first direction, the third slider 1032 being fixed to the blade tray 52, the third slider 1032 being engaged with the third slide rail 1031. The third guide portion can restrict the moving direction of the blade 52, change the rotational motion of the blade 52 into a linear motion, and ensure the moving accuracy of the blade 52, thereby improving the accuracy of extracting or storing samples.

Specifically, the sixth power element in this embodiment is a sixth rotating motor 961, the rotating member is a rotating rod 962, and the sixth rotating motor 961 drives the rotating rod 962 to rotate, so as to generate a rotating force on the shovel disc 52 connected to the rotating rod 962. However, since blade disc 52 cannot rotate under the guiding action of the third guide portion, the rotational acting force received is converted into a linear moving force.

The process of transferring the sample cartridge from the buffer area 1 into the storage space will be briefly described below with reference to the specific structure of the grasping mechanism.

The seventh driving device drives the moving frame 6 to move in the second direction, and adjusts the position of the entire grasping mechanism in the second direction so that the blade plate device 5 and the opening 11 of the buffer area 1 are aligned in the second direction. The first drive device drives the buffer device 4 and the blade device 5 to move in the first direction, so that the blade device 5 and the opening 11 of the buffer area 1 are aligned in the first direction. The second driving device drives the blade device 5 to move in the third direction, so that the blade device 5 and the opening 11 of the buffer area 1 are aligned in the third direction. After all the sample boxes are aligned, the fifth driving device drives the shovel plate seat 51 to rotate, so that the shovel plate outlet is aligned with the opening 11 of the buffer area 1, the sixth driving device drives the shovel plate 52 to stretch into the buffer area 1 to extract the sample boxes, and the extracted sample boxes are temporarily stored on the shovel plate 52. Alternatively, when the sample cartridges are stored in a large batch, the fifth driving device drives the blade tray base 51 to rotate, so that the blade tray outlet is aligned with the inlet of the temporary storage rack 41, and the extracted sample cartridges are temporarily stored in the temporary storage rack 41. A new sample cartridge is taken from the buffer 1 until the buffer 41 is filled or all the sample cartridges to be transferred are taken out.

The seventh driving means drives the moving frame 6 to move in the second direction, and adjusts the position of the entire gripper mechanism in the second direction so that the gripper 3 and the corresponding storage position in the storage space are aligned in the second direction. The third drive means drives the gripping means 3 to move in the first direction such that the gripping means 3 and the corresponding storage position in the storage space are aligned in the first direction. The fourth driving device drives the first clamping portion 31 to move downward in the third direction, and the corresponding storage device 2 is taken out. The first clamping part 31 and the second clamping part 8 are matched to split the storage assemblies connected in series into parallel connection. The fifth driving device drives the shovel plate seat 51 to rotate, so that the shovel plate outlet is aligned with the extraction opening of the storage device 2, and the sixth driving device drives the shovel plate 52 to extend into the storage device 2 to store the sample box. The fourth driving means drives the first clamping portion 31 to move downward in the third direction, and places the storage device 2 into the storage space again.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A grasping mechanism for grasping and transferring a sample cartridge contained in a storage device, the grasping mechanism comprising:

2. The grasping mechanism according to claim 1, wherein the grasping mechanism further includes a moving frame that is movable in a second direction that is perpendicular to the first direction in a same horizontal plane; the grabbing device and/or the temporary storage device and/or the shovel disc device are/is installed on the moving frame so as to move synchronously along a second direction along with the moving frame.

3. A gripping mechanism according to claim 2, wherein the blade arrangement is connected to the buffer carriage, the blade arrangement being arranged to move synchronously with the buffer carriage in a first direction.

4. The grasping mechanism according to claim 3, wherein the grasping mechanism includes a first drive device coupled to the staging frame for driving movement of the staging frame and the blade arrangement in a first direction relative to the grasping device.

5. The grasping mechanism according to claim 4, wherein the first driving device includes a first power element, a first moving portion and a first fixed portion, the first moving portion is connected to the temporary storage frame, the first fixed portion is connected to the moving frame, the first moving portion is engaged with the first fixed portion, and the first power element is connected to the first moving portion for driving the first moving portion to move in a first direction.

6. The grasping mechanism according to claim 3, further comprising a second driving device connected to the blade assembly for driving the blade assembly to move in a third direction, the third direction being parallel to the vertical direction.

7. The grasping mechanism according to claim 6, wherein the staging device further includes a first mounting bracket, the staging bracket, the blade arrangement, and the second drive arrangement all being mounted on the first mounting bracket.

8. The grasping mechanism according to claim 7, wherein the second driving device includes a second power element, a second moving portion and a second fixed portion, the second moving portion is connected to the blade device, the second fixed portion is connected to the first mounting bracket, the second moving portion is engaged with the second fixed portion, and the second power element is connected to the second moving portion for driving the second moving portion to move in a third direction.

9. The grasping mechanism according to claim 8, further comprising a first guide portion, the first guide portion including a first slider and a first slide rail, the first slider being mounted on the blade arrangement, the first slide rail being mounted on the first mounting bracket, the first slider being engaged with the first slide rail, the first slide rail extending in a third direction.

10. The gripping mechanism of claim 2, wherein the storage device comprises a plurality of storage components connected in series, the gripping device comprises a plurality of first clamping portions arranged in sequence along a first direction, the gripping device further comprises a second clamping portion for connecting with a segment of the storage component, and the first clamping portion and the second clamping portion can move relatively in the first direction to move the storage component to be separated to a side where the corresponding first clamping portion grips, so as to realize the separation; the first clamping part or the second clamping part can move along a third direction, and the third direction is parallel to the vertical direction.

11. The gripper mechanism of claim 10, wherein the second gripper portion is connected to the buffer, the second gripper portion being arranged to move synchronously with the buffer in a first direction.

12. The grasping mechanism according to claim 10, wherein the second grasping portion includes a first latch and a second latch, the first latch and the second latch being relatively movable.

13. The grasping mechanism according to claim 12, further comprising a third drive device connected to the first grasping portion for driving the first grasping portion to move in the first direction.

14. The grasping mechanism according to claim 13, wherein the grasping device further includes a second mounting bracket on which each of the plurality of first grasping portions is mounted; the third driving device comprises a third power element, a third moving part and a third fixing part, the third moving part is connected with the second mounting frame, the third fixing part is connected with the moving frame, the third moving part is matched with the third fixing part, and the third power element is connected with the third moving part and used for driving the third moving part to move along the first direction.

15. The grasping mechanism according to claim 14, wherein the grasping mechanism further includes a plurality of fourth driving devices, each of the fourth driving devices being connected to one of the first holding portions for driving the corresponding first holding portion to move in a third direction.

16. The grabbing mechanism of claim 15, wherein the fourth driving device comprises a fourth power element, a fourth driving member, a fourth driven member and a fourth synchronous belt, the fourth driving member and the fourth driven member are mounted on the second mounting bracket, the fourth driving member and the fourth driven member are correspondingly disposed up and down, the fourth synchronous belt is connected between the fourth driving member and the fourth driven member, the first clamping portion is connected with the fourth synchronous belt, and the fourth power element is connected with the fourth driving member for driving the fourth driving member to rotate.

17. The grasping mechanism according to claim 10, wherein the grasping device further includes a plurality of second guide portions, the number of the second guide portions corresponding to the number of the first holding portions, the second guide portions being provided at lower ends of the first holding portions, the second guide portions having through holes that are pierced at both ends in the third direction for the first holding portions and the storage device to be pierced through.

18. The grasping mechanism according to claim 1, wherein the blade arrangement includes a blade seat and a blade disposed on and movably connected to the blade seat, the blade being movable in a fourth direction to extend out of the blade seat into the storage device, the fourth direction being parallel to a horizontal plane.

19. The grasping mechanism according to claim 18, further comprising a fifth drive device coupled to the blade mount for driving the blade mount to rotate about a first axis of rotation, the first axis of rotation being parallel to the vertical.

20. The grasping mechanism according to claim 19, wherein the blade wheel device further includes a fixed mount, the fifth driving device includes a fifth power element, a fifth driving member, a fifth driven member, and a fifth synchronous belt, the fifth driving member is mounted on the fixed mount, the fifth driven member is mounted on the blade wheel base, the fifth synchronous belt is connected between the fifth driving member and the fifth driven member, and the fifth power element is connected to the fifth driving member for driving the fifth driving member to rotate.

21. The grasping mechanism according to claim 18, further comprising a sixth drive device connected to the blade tray for driving the blade tray to move in the fourth direction to extend the blade tray base.

22. The grasping mechanism according to claim 21, wherein the sixth driving device includes a sixth power element and a rotating member, one end of the rotating member being connected to the sixth power element, the other end of the rotating member being connected to the blade disc, the rotating member being configured to drive the rotating member to rotate about a second rotation axis, the second rotation axis being parallel to the vertical direction;

23. A sample storage system, comprising a buffer area and a storage area, wherein an opening is arranged at one end of the buffer area facing the storage area, and a grabbing mechanism as claimed in any one of claims 1 to 22 is arranged in the storage area.