CN114229295A - Automatic change biological sample storehouse - Google Patents
Automatic change biological sample storehouse Download PDFInfo
- Publication number
- CN114229295A CN114229295A CN202111335119.0A CN202111335119A CN114229295A CN 114229295 A CN114229295 A CN 114229295A CN 202111335119 A CN202111335119 A CN 202111335119A CN 114229295 A CN114229295 A CN 114229295A
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- 239000012472 biological sample Substances 0.000 title claims abstract description 48
- 230000008859 change Effects 0.000 title description 2
- 230000007246 mechanism Effects 0.000 claims abstract description 254
- 238000012360 testing method Methods 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000012546 transfer Methods 0.000 claims abstract description 22
- 238000007789 sealing Methods 0.000 claims description 101
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 230000000670 limiting effect Effects 0.000 claims description 20
- 238000003825 pressing Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 11
- 238000004806 packaging method and process Methods 0.000 claims description 9
- 238000005299 abrasion Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 18
- 230000008569 process Effects 0.000 abstract description 17
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 239000003153 chemical reaction reagent Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000005057 refrigeration Methods 0.000 description 2
- 229960005486 vaccine Drugs 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
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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
-
- 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
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
-
- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention relates to the technical field of low-temperature storage, and provides an automatic biological sample library, which comprises a storage mechanism provided with a plurality of storage layers; a tray mechanism which is stored in the storage mechanism and comprises a test tube box and a tray; a carrying mechanism for transporting the tray mechanism; the automatic processing table is used for temporarily storing the test tube boxes; a selecting mechanism which is arranged on the carrying mechanism and used for pulling the tray out of the storage cabinet and pushing the test tube box in the tray to the automatic processing table; a transfer device for transferring the test tube box on the automatic processing table. The automatic biological sample library provided by the invention can meet the requirements of sealed storage, selection, transportation, temporary storage and transfer of biological samples in a low-temperature environment, has high automation level in the whole process, and can be suitable for storage and transportation of large-scale biological samples.
Description
Technical Field
The invention relates to the technical field of low-temperature storage, in particular to an automatic biological sample library.
Background
The storage of biological sample, bacterin etc. needs the environment of ultra-low temperature to guarantee biological sample's stability and save time, simultaneously, because biological sample, bacterin kind, quantity are various, and the storage cabinet chooses for use multiunit, the categorised storage of multilayer usually, and under the ultra-low temperature environment, biological sample's storage needs to adopt automatic equipment of taking.
In order to ensure the normal operation of the automatic taking equipment and reduce the energy consumption of the ultra-low temperature storage area, the biological sample storage cabinet needs to be well sealed, so that the cold air in the ultra-low temperature storage area is prevented from leaking outwards. Among the prior art, sealed effectual is that the storage cabinet top is opened the door and is adopted top seal's structure, and this structural seal is effectual, but needs great space when carrying out the operation of biological sample taking. The storage cabinet with the side sliding door is poor in sealing effect, and the leakage of cold air in a low-temperature refrigeration area can cause operation failure of external equipment and increase energy consumption.
Meanwhile, in practical application, the selecting mechanism and the carrying mechanism are complex in structure, complex in control process and poor in action execution efficiency, and particularly the selecting mechanism is large in size, heavy in weight and poor in stability in the selecting and carrying processes, so that the requirements of fast grabbing and fast transferring of multiple biological samples cannot be met.
In addition, different biological samples or vaccines and the like need to be stored in the biological sample library, and information entry or taking of different biological samples and vaccines is performed in a transfer area through cooperation of the transfer device and information manually input.
Based on this, research and development has high level degree of automation biological sample storehouse, realizes sealed storage, quick selection, the quick transport to polycell, multilayer cabinet sample, has important meaning.
Disclosure of Invention
The present invention is directed to an automated biological specimen library to solve the above-mentioned problems of the background art.
An automated biological sample library, comprising:
a storage mechanism provided with a plurality of storage layers;
a tray mechanism which is stored in the storage mechanism and comprises a test tube box and a tray;
a carrying mechanism for transporting the tray mechanism;
the automatic processing table is used for temporarily storing the test tube boxes;
a selecting mechanism which is arranged on the carrying mechanism and used for pulling the tray out of the storage cabinet and pushing the test tube box in the tray to the automatic processing table;
a transfer device for transferring the test tube box on the automatic processing table.
Further, in the present invention,
the storage mechanism comprises a storage cabinet and a cabinet door mechanism arranged on the storage cabinet;
a sealing door arranged on the cabinet door mechanism;
the locking mechanism is used for keeping the locking relationship between the sealing door and the cabinet door mechanism;
a handle is arranged at the bottom of the tray;
the cabinet door mechanism comprises a plurality of cabinet door frames, adjacent cabinet door frames form a storage unit, a plurality of storage layers are arranged in each storage unit from top to bottom, and each storage layer is provided with a sealing door; the cabinet door frame is provided with a sliding rail, and two ends of the sealing door are provided with sliding blocks matched with the sliding rail for realizing the up-and-down movement of the sealing door;
the top of each storage unit is provided with a maneuvering layer, and the maneuvering layer is provided with a sealing plate for connecting adjacent cabinet door frames; the movable layer is not provided with a sealing door, when the sealing door of a certain layer moves upwards, all the sealing doors above the layer are driven to move upwards, and the position of the movable layer is occupied, so that the cabinet door mechanism of the layer is opened;
a sealing strip is arranged at the contact part of the rear end of the sealing door and the cabinet door frame; a labyrinth groove matched with the sealing strip is formed in the cabinet door frame; the contact part of the rear end of the sealing door and the cabinet door frame is of a cuboid structure, the bottom surface and the side surface of the cuboid structure are respectively provided with a sealing strip with an L-shaped section, and the cabinet door frame is provided with a labyrinth groove matched with the L-shaped sealing strip; the sealing door comprises a door plate, and the front end of the door plate is provided with a door opening mechanism for driving other mechanisms to drive the sealing door to lift; a guard plate for reducing collision abrasion between the sealing doors is arranged between the upper sealing door and the lower sealing door;
the locking mechanism includes:
the locking pressing plate is arranged on the outer side of the sealing door and plays a role in pressing the sealing door; the eccentric mechanisms are arranged at two ends of the locking pressing plate; one end of the eccentric mechanism is connected into the bearing seat through a rotating shaft, the other end of the eccentric mechanism is connected with an electric push rod, and the locking pressing plate can rotate around the rotating shaft under the pushing of the electric push rod to press the sealing door; the electric push rod and the bearing seat are connected to the mounting seat through the connecting seat.
Further, in the present invention,
the carrying mechanism includes:
the ground track is provided with a ground track sliding rail;
the main frame is connected to the ground track slide rail through the ground track slide block and can slide along the ground track slide rail;
the main frame is provided with a main frame rail;
the lifting seat is provided with a lifting seat sliding block;
the lifting seat is connected to the main frame rail through a lifting seat sliding block and can slide up and down along the main frame rail;
the main frame is provided with a counterweight mechanism, and the counterweight mechanism comprises a counterweight guide rail arranged on the main frame and a counterweight block which is arranged on the counterweight guide rail and can slide up and down along the counterweight guide rail;
the main frame is provided with a main frame pulley and a steel wire rope, the steel wire rope winds the main frame pulley, and two ends of the steel wire rope are respectively connected with a balancing weight and a lifting seat;
the ground track is also provided with a ground track rack; the main frame is provided with a main frame driving mechanism, the main frame driving mechanism comprises a main frame motor, an output shaft of the main frame motor is connected with a main frame gear, the main frame gear is meshed and connected with the ground track rack, and the main frame motor drives the main frame to slide along the ground track slide rail;
the main frame is provided with a lifting seat driving mechanism and a lifting seat transmission mechanism; the lifting seat transmission mechanism comprises a lifting seat synchronous belt, an upper lifting seat rotating shaft and a lower lifting seat rotating shaft, wherein two ends of the lifting seat rotating shaft are connected with lifting seat gears, and the lifting seat synchronous belt is connected with the upper lifting seat gear and the lower lifting seat gear; the lifting seat is provided with a lifting seat connecting piece, and the lifting seat is fixedly connected with the lifting seat synchronous belt through the lifting seat connecting piece; the lifting seat driving mechanism comprises a lifting seat motor and a lifting seat driving synchronous belt; a lifting seat driving gear is also arranged on the lifting seat rotating shaft; an output shaft of the lifting seat motor is connected with the lifting seat driving gear through a lifting seat driving synchronous belt, and the output power of the lifting seat motor is transmitted to a lifting seat rotating shaft to drive the lifting seat to lift along the main frame rail;
a counterweight bottom plate is arranged on the counterweight guide rail, a plurality of counterweight blocks are carried on the counterweight bottom plate, U-shaped holes are formed in the counterweight blocks, and the counterweight guide rail is arranged in the U-shaped holes; the counterweight block is provided with a through hole, a counterweight block cutting strip is arranged in the through hole, the bottom of the counterweight block cutting strip penetrates through the counterweight bottom plate and is provided with a cutting strip limit, and the limiting effect on the counterweight block is achieved; the end part of the balancing weight insert is provided with an insert lug, the end part of the lifting seat is provided with a lifting seat lug, and the two ends of the steel wire rope are respectively connected with the insert lug and the lifting seat lug.
Further, in the present invention,
the selecting mechanism comprises:
the door opening mechanism is used for lifting the sealing door;
a tray pulling mechanism for pulling out the tray from the storage cabinet;
a cassette pushing mechanism for pushing the test tube cassette in the pull-out tray to the automatic operation table;
the door opening mechanism includes:
the lifting support, a lifting arm slide rail, a lifting arm motor and a ball screw are arranged on the lifting support; the output end of the arm lifting motor is connected with a first arm lifting belt wheel, the end part of the ball screw is connected with a second arm lifting belt wheel, and the first arm lifting belt wheel is connected with the second arm lifting belt wheel through a synchronous belt; the ball screw is connected with a lifting arm sliding block, and the lifting arm sliding block is lifted by driving the ball screw to rotate through a lifting arm motor;
a lifting arm connecting seat is arranged on the lifting arm sliding rail and is fixedly connected with the lifting arm sliding block; the swing arm is installed on the lifting arm connecting seat, and a lifting rod for lifting the sealing door to open the door is arranged at the front end of the swing arm;
the swing arm connecting seat is also provided with a swing arm bearing seat, and the middle part of the swing arm is connected to the swing arm bearing seat through a swing arm rotating shaft, so that the swing arm can rotate around the swing arm rotating shaft;
the swing arm is made of metal materials, an electromagnet is arranged on the position, corresponding to the rear end of the swing arm, of the arm lifting connecting seat, and the swing arm is controlled to rotate through the electromagnet;
door opening mechanism, drawing dish mechanism, push away box mechanism and install on frame roof beam mechanism, frame roof beam mechanism includes:
the lower-layer frame beam is provided with a lower-layer cross beam and a lower-layer longitudinal beam;
a pair of portal frame beams mounted on the lower frame beam;
the middle-layer frame beam is arranged between the pair of portal frame beams and comprises a middle-layer low beam and a middle-layer high beam;
the high-rise truss girder comprises a high-rise first truss girder arranged on the middle-rise low girder and a high-rise second truss girder arranged on the middle-rise high girder;
the drawing disc mechanism comprises:
the two ends of the mounting plate are respectively fixed on the pair of portal frame beams;
the disc feeding sliding rail is arranged above the mounting plate;
the disc feeding sliding block is arranged on the disc feeding sliding rail and can slide along the disc feeding sliding rail;
a tray carrying frame fixedly connected to the tray feeding slide block;
a disk feeding drive device connected to the tray carrier;
the disc feed drive device includes:
a tray-feeding rack fixedly connected with the tray carrying frame;
a disc feeding connecting plate arranged on the side of the mounting plate;
a disc feeding motor arranged on the disc feeding connecting plate;
a disc feeding gear connected with the disc feeding motor and meshed with the disc feeding rack;
the linear sliding rail is arranged below the mounting plate;
a slidable slide bar is arranged in the linear slide rail;
a drag hook component connected to the slide bar;
a pull disc power mechanism connected with the pull hook assembly;
the draw hook assembly comprises a draw hook disc, a draw hook is mounted on the draw hook disc, and the draw hook is connected with a draw hook motor through a gear; the gear comprises a first drag hook gear, a second drag hook gear and a third drag hook gear, the first drag hook gear is connected with a drag hook motor, the third drag hook gear is connected with the drag hook through a connecting shaft, the first gear and the third drag hook gear are connected through a second drag hook gear, and the drag hook can be driven to rotate through the drag hook motor;
the pull disc power mechanism comprises a pull disc motor and two pull disc belt wheels fixed on the low-layer cross beam, the pull disc motor is connected to the pull disc belt wheels through a transmission shaft, a pull disc synchronous belt is installed between the two pull disc belt wheels, the bottom of the pull disc is fixedly connected to the pull disc synchronous belt, and the pull disc motor drives the synchronous belt to rotate to drive the pull disc to slide along the linear sliding rail;
the box pushing mechanism comprises a box pushing and carrying plate arranged on a first frame beam and a second frame beam of a high layer, a box pushing slide rail is arranged on the box pushing and carrying plate, and a box pushing supporting beam capable of sliding along the box pushing slide rail is arranged on the box pushing slide rail; the box pushing and supporting plate is also provided with a driving mechanism for pushing the box supporting beam, the driving mechanism comprises a box pushing second motor and a pair of box pushing belt wheels connected by a box pushing synchronous belt, and the box pushing second motor is connected with the box pushing belt wheels through an output shaft; the box pushing supporting beam is fixedly connected to the box pushing synchronous belt through a supporting beam connecting plate, and the box pushing synchronous belt and the box pushing supporting beam are driven to move by a second box pushing motor;
a box pushing sliding rail is vertically arranged on the box pushing supporting beam, a box pushing rack is connected onto the box pushing sliding rail in a sliding manner, and a pushing plate is arranged on the box pushing rack; push away the lifting drive mechanism who still installs the push pedal on the box joist, actuating mechanism pushes away the box gear including pushing away box first motor and with pushing away that box first motor is connected, push away the box gear with push away box rack toothing, push away box rack, push pedal lift by pushing away the first motor drive of box.
Further, in the present invention,
the transfer device includes:
the transfer support frame and the X-axis track arranged on the transfer support frame;
a Y-axis track which is arranged on the X-axis track and can slide along the X-axis track;
a Z-axis track which is arranged on the Y-axis track and can slide along the Y-axis track;
a Z-axis carrying plate which is arranged on the Z-axis track and can slide along the Z-axis track;
the automatic processing table is arranged on the Y-axis track stroke;
an X-axis rack is installed on the X-axis track, an X-axis motor is correspondingly installed on the Y-axis track, an output shaft of the X-axis motor is connected with an X-axis gear meshed with the X-axis rack, and the Y-axis track is driven by the X-axis motor to slide along the X-axis track;
a Z-axis track capable of sliding along the Y-axis track is mounted on the Y-axis track, a Y-axis motor is arranged on the Z-axis track, and an output shaft of the Y-axis motor is connected with a Y-axis gear; a Y-axis rack meshed with the Y-axis gear is arranged on the Y-axis track; the Y-axis motor drives the Z-axis track to slide along the Y-axis track;
a Z-axis motor is installed on the Z-axis track, and an output shaft of the Z-axis motor is connected with a Z-axis gear; a Z-axis rack meshed with the Z-axis gear is arranged on the Z-axis lapping plate; the Z-axis motor drives the Z-axis carrying plate to slide along the Z-axis track.
Further, in the present invention,
a manipulator is arranged on the Z-axis carrying plate;
the manipulator comprises a manipulator arm for clamping the test tube box, a manipulator driving motor for driving the manipulator arm to complete clamping action and a manipulator transmission mechanism;
the mechanical arms comprise a first mechanical arm and a second mechanical arm;
the manipulator transmission mechanism comprises a first manipulator rack, a second manipulator rack and a driving gear shaft which is arranged between the first manipulator rack and the second manipulator rack and is meshed with the first manipulator rack and the second manipulator rack;
the first manipulator arm and the second manipulator arm are respectively and fixedly connected with the first manipulator rack and the second manipulator rack;
the driving gear shaft is connected with the manipulator driving motor and is driven by the driving motor to rotate so as to drive the first manipulator rack and the second manipulator rack to slide in opposite directions;
the first mechanical arm is connected with the first mechanical rack through a first limiting block, the second mechanical arm is connected with the second mechanical rack through a second limiting block, and the first limiting block and the second limiting block play a limiting role in the first mechanical arm and the second mechanical arm so as to avoid contact collision;
packaging shells are arranged on the outer sides of the first manipulator rack and the second manipulator rack, manipulator slide rails are arranged in the packaging shells and comprise a first manipulator slide rail and a second manipulator slide rail, and the first manipulator rack and the second manipulator rack are respectively connected into the first manipulator slide rail and the second manipulator slide rail through slide bars;
further, a table board is arranged on the automatic processing table, a temporary storage area for temporarily storing the biological sample kit, a butt joint area for butt joint with the selection mechanism, and a scanning area for scanning different biological sample test tubes and recording information are arranged on the table board; the opposite surface of the automatic processing platform is also provided with a manual processing platform for carrying biological samples to carry out manual processing operation.
Compared with the prior art, the invention has the beneficial effects that:
firstly, in the storage mechanism, the cabinet doors adopt an up-and-down sliding opening and closing mode, a maneuvering space is reserved at the top of each cabinet door unit, the cabinet doors at any layer can be pushed upwards selectively to open the doors, the door closing process can be automatically realized through the action of gravity, and the complexity of the opening and closing actions of the cabinet doors and the space required by the opening and closing of the cabinet doors are reduced; the sealing door is provided with the sealing strip, and the cabinet door frame is provided with the matched labyrinth groove, so that the sealing property of the cabinet door is improved, and the energy consumption of the refrigeration house is reduced; the locking mechanism with the electric push rod as power is designed, the electric push rod is converted into the pressure of the locking pressing plate on the sealing door through the eccentric mechanism, and the locking mechanism has the advantages of being simple to control, good in locking effect and low in cost.
Secondly, in the carrying mechanism, the stability of the carrying process is enhanced through the mechanical structure design, a main frame carrying a counterweight mechanism and a lifting seat is designed, pulleys carrying a steel wire rope are arranged on the main frame, and the counterweight mechanism and the lifting seat are connected through the steel wire rope, so that the stability of the lifting process of the lifting seat is enhanced; the bottom of the carrying mechanism is provided with a ground track and a corresponding driving mechanism, the main frame can rapidly move along the ground track, so that the storage goods shelves can be arranged on one side or two sides of the carrying mechanism, different goods grabbing mechanisms can be continuously installed on the lifting seat according to different goods storing and taking modes, and the requirements of carrying the grabbing mechanisms with large volume and large weight can be met.
Thirdly, in the selecting mechanism, a door opening mechanism, a tray pulling mechanism and a box pushing mechanism with very high automation degree are designed for the low-temperature storage bin in an up-and-down sliding opening and closing mode, a sealing door is lifted and opened through the door opening mechanism, the tray is pulled out by the tray pulling mechanism, the tray is conveyed to a specified position by the tray conveying mechanism arranged in the tray pulling mechanism, the test tube box in the tray is pushed out by the box pushing mechanism, manual participation is not needed in the whole process, the automation level is high, the mechanical structures of the door opening mechanism, the tray pulling mechanism and the box pushing mechanism are reasonably designed, and the linking efficiency of all actions is high.
Fourthly, in the transfer device, the X-axis track, the Y-axis track and the Z-axis track for carrying the mechanical arm to move are designed, so that the mechanical arm can carry out taking and moving operation on the biological samples on the processing table according to design requirements, and the information of different biological samples can be quickly and efficiently input and different biological sample reagents can be selected through the automatic processing table and the manual processing table, so that the working efficiency and the application range of a biological sample library are improved;
fifthly, the manipulator loaded in the transfer device simplifies the control process through the mechanical structure design, and designs a first manipulator rack, a second manipulator rack and a driving gear shaft transmission mechanism meshed with the first manipulator rack and the second manipulator rack, wherein the driving gear shaft drives the first manipulator rack and the second manipulator rack to move in opposite directions in the rotating process, and the grabbing and releasing actions of the first manipulator arm and the second manipulator arm can be completed only by controlling the forward rotation and the reverse rotation of a driving motor connected with the driving gear shaft; the manipulator is provided with a first limiting block and a second limiting block which are respectively arranged on the first manipulator arm and the second manipulator arm to play a limiting role and avoid contact collision; the packaging shell is designed, the sliding rails of the first manipulator rack and the second manipulator rack are arranged in the packaging shell, the sliding action of the first manipulator rack and the second manipulator rack is smooth, and the efficiency is greatly improved.
Sixth, the automated biological sample library provided by the invention can meet the requirements of sealed storage, selection, transportation, temporary storage and transfer of biological samples in a low-temperature environment, has high automation level in the whole process, and can be suitable for storage and transportation of large-scale biological samples.
Drawings
FIG. 1 is a schematic diagram of the structure of an automated biological sample library;
FIG. 2 is a schematic structural view of a storage cabinet, a cabinet door mechanism and a locking mechanism;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic view of a cabinet door mechanism and a sealing door structure;
FIG. 5 is a schematic structural view of a cabinet door mechanism and a locking mechanism;
FIG. 6 is a schematic view of the locking mechanism;
FIG. 7 is a schematic structural view of an electric push rod and a locking pressing plate;
FIG. 8 is a schematic view of a locking pressure plate;
FIG. 9 is a front view of the sealing door;
FIG. 10 is a schematic view of the back structure of the sealing door;
FIG. 11 is a schematic structural view of a low-temperature automated warehouse in example 1;
FIG. 12 is a schematic view of the storage mechanism and the selection mechanism;
FIG. 13 is a schematic view of the storage cabinet and tray mechanism;
FIG. 14 is a schematic view of a first perspective structure of the selection mechanism;
FIG. 15 is a schematic view of a second perspective of the selection mechanism;
FIG. 16 is a schematic view of a third perspective of the selection mechanism;
FIG. 17 is a schematic structural view of a door opening mechanism;
FIG. 18 is a first perspective structural view of the tray pulling mechanism;
FIG. 19 is a structural diagram of a second perspective of the tray pulling mechanism;
FIG. 20 is a schematic view of the retractor plate configuration;
FIG. 21 is a structural diagram of a third perspective of the tray pulling mechanism;
FIG. 22 is a structural diagram of a fourth view angle of the disc pulling mechanism;
FIG. 23 is a schematic structural view of a box pushing mechanism;
FIG. 24 is a schematic view showing the entire structure of the carrying mechanism;
FIG. 25 is a schematic view of the main frame construction;
FIG. 26 is a schematic view of the elevating base;
FIG. 27 is a schematic view of a ground track configuration;
FIG. 28 is a schematic view of a counterweight block;
FIG. 29 is a schematic view of a counterweight mechanism;
FIG. 30 is a schematic view of a sample transferring apparatus of the biological sample library;
FIG. 31 is a schematic structural view of an X-axis rail, a Y-axis rail and a Z-axis rail;
FIG. 32 is an enlarged view of a portion of the structure of FIG. 31;
FIG. 33 is a schematic diagram of an X-axis track, a Y-axis track, a Z-axis track, and a partial structure;
FIG. 34 is a schematic view of the entire structure of the robot;
FIG. 35 is a first schematic view of the internal structure of the robot;
FIG. 36 is a second schematic view of the internal structure of the robot;
FIG. 37 is a schematic view of the structure of a cuvette cassette and a robot arm;
FIG. 38 is a schematic view of the structure of an automatic processing station and a manual processing station.
In the figure:
a storage mechanism 1,
The storage cabinet 11, the cabinet door mechanism 12, the locking mechanism 13, the sealing door 14, the low-temperature warehouse 15, the cabinet door frame 121, the slide rail 1211, the labyrinth groove 1212, the sealing plate 122, the locking pressing plate 131, the bearing seat 132, the connecting seat 133, the electric push rod 134, the rotating shaft 135, the eccentric mechanism 136, the mounting seat 137, the door panel 141, the sealing strip 142, the door opening mechanism 143, the guard plate 144, the sliding block 145, the sealing door 1212, the sealing plate 122, the locking pressing plate 131, the connecting seat 133, the electric push rod 134, the rotating shaft 135, the eccentric mechanism 136, the mounting seat 137, the door panel 141, the sealing strip 142, the door opening mechanism,
A tray mechanism 2,
A test tube box 21, a handle 22, a tray 23, a test tube box carrying bottom plate 24,
A conveying mechanism 3,
The lifting mechanism comprises a ground track 31, a ground track sliding rail 311, a ground track rack 312, a ground track sliding block 313, a main frame 32, a main frame track 321, a main frame pulley 322, a lifting seat 33, a lifting seat sliding block 331, a lifting seat connecting piece 332, a lifting seat hanging lug 333, a lifting seat driving mechanism 34, a lifting seat motor 341, a lifting seat driving synchronous belt 342, a lifting seat driving gear 343, a counterweight mechanism 35, a counterweight guide rail 351, a counterweight block 352, a steel wire rope 353, a counterweight inserting strip 354, an inserting strip hanging lug 355, a counterweight bottom plate 356, an inserting strip limiting 357, a lifting seat driving mechanism 36, a lifting seat synchronous belt 361, a lifting seat rotating shaft 362, a lifting seat gear 363, a main frame driving mechanism 37, a main frame motor 371, a main frame gear 372, a main frame sliding block 313, a lifting seat driving synchronous belt 342, a lifting seat driving belt and a lifting seat driving belt 342,
A selecting mechanism 4,
A door opening mechanism 43,
The lifting support 431, the lifting arm slide rail 4311, the lifting arm motor 432, the ball screw 433, the lifting arm slider 434, the swing arm 435, the swing arm rotating shaft 4351, the swing arm bearing seat 4352, the lifting lever 4353, the lifting arm connecting seat 436, the lifting arm first belt pulley 437, the lifting arm second belt pulley 438, the lifting arm first belt pulley and the lifting arm second belt pulley,
A pull disc mechanism 44, a pull hook component 441, a pull hook disc 4411, a pull hook 4412, a pull hook motor 4413, a pull hook first gear 4414, a pull hook second gear 4415, a pull hook third gear 4416,
Mounting plate 442, disk-pulling power mechanism 443, disk-pulling motor 4431, disk-pulling pulley 4432, disk-pulling timing belt 4433, tray carrying rack 444, linear slide rail 445, connecting bridge 446, disk-feeding driving device 447, disk-feeding motor 4471, disk-feeding gear 4472, disk-feeding rack 4473, disk-feeding connecting plate 4474, disk-feeding slide rail 448, disk-feeding slider 4481, and disk-feeding mechanism,
A box pushing mechanism 45, a box pushing carrying plate 451, a box pushing slide rail 452, a box pushing joist 453, a box pushing slide rail 4531, a box pushing rack 4532, a box pushing plate 4533, a joist connecting plate 4534, a box pushing power mechanism 454, a box pushing first motor 4541, a box pushing gear 4542, a box pushing second motor 455, a box pushing synchronous belt 456, a box pushing wheel 457, a box pushing wheel,
A lower-stage frame beam 46, a lower-stage cross beam 461, a lower-stage longitudinal beam 462, a portal frame beam 47, a middle-stage frame beam 48,
A middle low beam 481, a middle high beam 482, a high frame beam 49, a high first frame beam 491, a high second frame beam 492, an automatic processing table 5, a table surface 51, a scanning area 52, a scanner 53, a butt-joint area 54, a temporary storage area 55, a manual processing table 6, a positioning device and a control device,
A manipulator 7,
The robot driving mechanism comprises a robot driving motor 71, a packaging shell 72, a robot slide rail 73, a first robot slide rail 731, a second robot slide rail 732, a robot arm 74, a first robot arm 741, a second robot arm 742, a limiting block 75, a first limiting block 751, a second limiting block 752, a robot transmission mechanism 76, a first robot rack 761, a second robot rack 762 and a driving gear shaft 763.
A transfer device 8,
An X-axis track 81, an X-axis rack 811, an X-axis motor 812, an X-axis gear 813,
Y-axis track 82, Y-axis rack 822, Y-axis motor 823, Y-axis gear 824,
The device comprises a Z-axis track 83, a Z-axis carrying plate 831, a Z-axis motor 832, a Z-axis gear 833, a Z-axis rack 834 and a transfer support 84.
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. 1-38, the present invention provides an automated biological sample library, which includes a storage mechanism 1 having a plurality of storage layers; a tray mechanism 2 including a cartridge 21 and a tray 23 stored in the storage mechanism 1; a carrying mechanism 3 for transporting the tray mechanism 2; an automatic processing table 5 for temporarily storing the test tube cassettes 21; a picking mechanism 4 mounted on the carrying mechanism 3 for pulling out the tray 23 from the storage cabinet 1 and pushing the test tube magazine 21 in the tray 23 to the automatic processing table 5; a transfer device 8 for transferring the test tube cassettes 21 on the automatic processing table 5.
In the case of the example 1, the following examples are given,
in this embodiment, the storage mechanism 1 includes a storage cabinet 11 and a cabinet door mechanism 12 installed on the storage cabinet 11; a sealing door 14 is arranged on the cabinet door mechanism 12; a locking mechanism 13 for keeping the sealing door 14 and the cabinet door mechanism 12 in a locking relationship is installed on the outer side of the sealing door 14.
The cabinet door mechanism 12 comprises a plurality of cabinet door frames 121, adjacent cabinet door frames 121 form a storage unit, a plurality of storage layers are arranged in each storage unit from top to bottom, and each storage layer is provided with a sealing door 14; the cabinet door frame 121 is provided with a slide rail 1211, two ends of the sealing door 14 are provided with slide blocks 145 which are matched with the slide rail 1211, and the sealing door 14 can move up and down under the action of the slide blocks and the slide rail.
A motorized layer is arranged on the top of each storage unit, and a sealing plate 122 for connecting adjacent cabinet door frames 121 is arranged on the motorized layer; the sealing door 14 is not arranged on the maneuvering layer, when the sealing door 14 on a certain layer moves upwards, all the sealing doors 14 above the layer are driven to move upwards, the sealing door 14 on the lower layer occupies the position of the maneuvering layer, and the cabinet door mechanism on the layer is opened.
A sealing strip 142 is arranged at the contact part of the rear end of the sealing door 14 and the cabinet door frame 121; the cabinet door frame 121 is provided with a labyrinth groove 1212 matched with the sealing strip 142.
The contact position of the rear end of the sealing door 14 and the cabinet door frame 121 is a cuboid structure, the bottom surface and the side surface of the cuboid structure are respectively provided with a sealing strip 142 with an L-shaped cross section, the narrow edges of the two sealing strips are close to the setting, and a labyrinth groove 1212 matched with the L-shaped sealing strip 142 is formed in the cabinet door frame 121.
The sealing door 4 comprises a door panel 141, and a door opening mechanism 143 for driving the sealing door 4 to lift by other mechanisms is arranged at the front end of the door panel 141. A mechanical hand can be arranged to drive the sealing doors 14 to lift, abrasion can occur between the sealing doors 14 in the door opening action process, and the guard plates 144 are arranged between the adjacent sealing doors 14 to reduce the abrasion of the sealing doors 14.
The locking mechanism 13 comprises a locking pressing plate 131, a bearing seat 132, a connecting seat 133, an electric push rod 134, a rotating shaft 135, an eccentric mechanism 136 and a mounting seat 137, wherein the locking pressing plate 131 which plays a role of pressing the sealing door 14 is arranged on the outer side of the sealing door 14; the eccentric mechanisms 136 are arranged at the two ends of the locking pressing plate 131; one end of the eccentric mechanism 136 is connected to the bearing seat 132 through a rotating shaft 135, and the other end is connected to the electric push rod 134, and under the pushing of the electric push rod 134, the locking pressing plate 131 can rotate around the rotating shaft 135, so as to press the sealing door 14. The electric push rod 134 and the bearing seat 32 are connected to the mounting seat 137 through the connecting seat 133.
The structure of the eccentric mechanism 136 is a cuboid shape, the electric push rod 134 is connected to one of the corners of the cuboid, a rotating shaft 135 and a locking pressing plate 131 are arranged at the diagonal position of the corner, the transverse extension of the electric push rod 134 drives the rotating shaft 135 to rotate in the bearing seat 132, and further drives the locking pressing plate 131 to rotate at a small angle, so that the sealing door 4 is compressed.
The storage mechanism 1 can also be a low-temperature automatic warehouse 15, which comprises a cabinet door sealing mechanism, the storage cabinet 11 is arranged inside the low-temperature automatic warehouse 15, and the cabinet door mechanism 12 is fixedly connected with the low-temperature automatic warehouse 15 through a connecting component; the locking mechanism 13 is provided with an upper mounting seat 137 and a lower mounting seat 137, and is connected to the low-temperature automatic warehouse 15 through the mounting seats 137.
In the case of the example 2, the following examples are given,
the tray mechanism 2 comprises a test tube box 21 and a tray 23; a handle 22 is arranged at the bottom of the tray 23; the trays 23 are arranged in storage levels of the storage cabinet 1, and a plurality of test tube boxes 21 are placed in the trays 23.
In the case of the example 3, the following examples are given,
in this embodiment, an automated biological sample library further includes a selecting mechanism 4, where the selecting mechanism 4 includes:
a door opening mechanism 43 for lifting the sealing door, a tray pulling mechanism 44 for pulling out the tray 23 from the storage cabinet 11, and a cartridge pushing mechanism 45 for pushing the cuvette cartridge 21 pulled out of the tray 23 toward the automatic processing table 5.
The door opening mechanism 43 comprises a lifting support 431, and a lifting arm slide rail 4311, a lifting arm motor 432 and a ball screw 433 are mounted on the lifting support 431. The output end of the arm lifting motor 432 is connected with a first arm lifting belt pulley 437, the end part of the ball screw 433 is connected with a second arm lifting belt pulley 438, and the first arm lifting belt pulley 437 is connected with the second arm lifting belt pulley 438 through a synchronous belt. The ball screw 433 is connected with a lifting arm slider 434, and the lifting arm slider 434 is lifted by driving the ball screw 433 to rotate through a lifting arm motor 432.
A lifting arm connecting seat 436 is arranged on the lifting arm sliding rail 4311, and the lifting arm connecting seat 436 is fixedly connected with the lifting arm sliding block 434; the swing arm 435 is mounted on the lifting arm connecting seat 436, and a lifting rod 4353 for lifting the sealing door to open the door is arranged at the front end of the swing arm 435.
In the case of the example 4, the following examples are given,
in this embodiment, the design special construction is used for realizing swing arm minizone rotation swing. The lifting arm connecting base 436 is further provided with a swing arm bearing seat 4352, and the middle part of the swing arm 435 is connected to the swing arm bearing seat 4352 through a swing arm rotating shaft 4351, so that the swing arm 435 can rotate around the swing arm rotating shaft 4351.
The swing arm 435 is made of metal materials, an electromagnet 439 is arranged on the lifting arm connecting seat 436 at a position corresponding to the rear end of the swing arm 435, and the electromagnet 439 generates magnetism after being electrified to attract the swing arm 435 to rotate around a swing arm rotating shaft 4351; a spring mechanism is arranged at the front end of the swing arm 435, and after the electromagnet 439 is disconnected, the swing arm 435 is reset under the action of the spring mechanism.
In the case of the example 5, the following examples were conducted,
in this embodiment, the invention designs a frame beam carrying the door opening mechanism 43, the disc pulling mechanism 44 and the box pushing mechanism 45, the door opening mechanism 43, the disc pulling mechanism 44 and the box pushing mechanism 45 are mounted on the frame beam mechanism, the frame beam mechanism comprises a low-level frame beam 46, and the low-level frame beam 46 comprises a low-level cross beam 461 and a low-level longitudinal beam 462; the bottom of the door opening mechanism 43 is connected to the lower beam 461.
A pair of portal frame beams 47 for supporting are arranged on the front and the back of the low-layer frame beam 46, a middle-layer frame beam 48 is arranged between the pair of portal frame beams 47, and the middle-layer frame beam 48 comprises a middle-layer low beam 481 and a middle-layer high beam 482.
A high-rise truss girder 49 is installed above the middle-rise truss girder 48, and the high-rise truss girder 49 includes a high-rise first truss girder 491 installed on the middle-rise truss girder 481 and a high-rise second truss girder 492 installed on the middle-rise truss girder 482.
In the case of the example 6, it is shown,
this example relates to a disc pulling mechanism 44, and the disc pulling mechanism 44 includes a mounting plate 442 having both ends fixed to a pair of gantry beams 47, respectively. The mounting plate 442 is provided with two left and right. A tray delivery slide 448 is provided above the mounting plate 442. A disk feeding sliding block 4481 which can slide along the disk feeding sliding rail 448 is arranged on the disk feeding sliding rail 448; a tray carrying frame 444 is fixedly connected to the tray feeding slider 4481; two tray feeding slide rails 448 and two tray carrying frames 444 are provided, and the interval width is set according to the width of the tray 423.
The tray carrier 444 may slide the tray 423. The power of the disc feeding driving device 447; the disk feeding drive device 447 comprises a disk feeding rack 4473 fixedly connected with the tray carrying rack 444; a disc feeding connecting plate 4474 is arranged on the side of the mounting plate 442; a disc feeding motor 4471 is arranged on the disc feeding connecting plate 4474; the disc feeding motor 4471 is connected with a disc feeding gear 4472 engaged with the disc feeding rack 4473; the tray feeding motor 4471 is driven to the tray feeding rack 4473 by the tray feeding gear 4472, the tray feeding rack 4473 drives the tray carrying member 444 to slide, the tray 423 is carried on the tray carrying member 444, and the position of the tray 423 can be adjusted by the above-mentioned method.
The above operation is performed after the tray 423 is pulled out, and the tray 423 is pulled out from the storage cabinet 41 by the below-described tray pulling mechanism 44.
A linear slide rail 445 is arranged below the mounting plate 442, a slidable slide bar is arranged in the linear slide rail 445, and the upper bottom of the slide bar is connected to the drag hook assembly 441. The drag hook assembly 441 performs drag hook action by the power provided by the pull disc power mechanism 443.
The pull disc power mechanism 443 comprises a pull disc motor 4431 and two pull disc belt wheels 4432 fixed on the lower-layer beam 461, the pull disc motor 4431 is connected to the pull disc belt wheels 4432 through a transmission shaft, a pull disc synchronous belt 4433 is installed between the two pull disc belt wheels 4432, the bottom of the pull disc 4411 is fixedly connected to the pull disc synchronous belt 4433, the pull disc motor 4431 drives the synchronous belt 4433 to rotate, and the pull disc 4411 is driven to slide along a linear sliding rail 445.
The draw hook assembly 441 comprises a draw hook disc 4411, a draw hook 4412 is mounted on the draw hook disc 4411, and the draw hook 4412 is connected with a draw hook motor 4413 through a gear.
In a preferred embodiment, the gear includes a first gear 4414, a second gear 4415 and a third gear 4416, the first gear 4414 is connected to a motor 4413, the third gear 4416 is connected to a hook 4412 through a connecting shaft, the first gear 4414 and the third gear 4416 are connected through the second gear 4415, and the hook 4412 is driven to rotate by the motor 4413.
In the case of the example 7, the following examples are given,
the present embodiment relates to a cassette pushing mechanism 45, wherein the cassette pushing mechanism 45 includes a cassette pushing and carrying plate 451 mounted on a first frame beam 491 at a high level and a second frame beam 492 at a high level, a cassette pushing slide rail 452 is disposed on the cassette pushing and carrying plate 451, and a cassette pushing and carrying beam 453 capable of sliding along the cassette pushing slide rail 452 is mounted on the cassette pushing slide rail 452; the pushing box carrying plate 451 is also provided with a driving mechanism of a pushing box joist 453, the driving mechanism comprises a pushing box second motor 455 and a pair of pushing box belt wheels 457 connected by a pushing box synchronous belt 456, and the pushing box second motor 455 is connected with the pushing box belt wheels 457 through an output shaft; the box pushing joist 453 is fixedly connected to the box pushing synchronous belt 456 through a joist connecting plate 4534, and the box pushing synchronous belt 456 and the box pushing joist 453 are driven to move by the box pushing second motor 455.
A box pushing slide rail 4531 is vertically arranged on the box pushing joist 453, a box pushing rack 4532 is connected to the box pushing slide rail 4531 in a sliding manner, and a push plate 4533 is arranged on the box pushing rack 4532; the box pushing joist 453 is further provided with a lifting driving mechanism of a pushing plate 4533, the driving mechanism comprises a box pushing first motor 4541 and a box pushing gear 4542 connected with the box pushing first motor 4541, the box pushing gear 4542 is meshed with a box pushing rack 4532, and the box pushing rack 4532 and the pushing plate 4533 are driven by the box pushing first motor 4541 to lift.
The door opening process of the invention is as follows, the arm lifting motor 432 drives the ball screw 433 to rotate so as to realize that the arm lifting slide block 434 is lifted and the swing arm 435 is lifted to the designated height of the sealing door, the electromagnet 439 is electrified to drive the swing arm 435 to rotate around the swing arm rotating shaft 4351, the ram 4353 extends out of the sealing door to lift the sealing door by a stroke height, and the sealing door is opened.
The disc pulling and disc feeding process is as follows, after the sealing door is opened, the disc pulling motor 4431 drives the hook disc 4411 to slide along the linear sliding rail 445, the hook 4412 of the hook disc 4411 slides into the storage layer of the opened sealing door, the hook 4412 of the hook disc 4411 hooks the handle 422 at the bottom of the tray 423, and the tray 423 is pulled out to the tray carrying frame 444. The draw hook 4412 is driven to rotate by the draw hook motor 4413, so that the draw hook 4412 is separated from the handle 422.
The tray carrying frame 444 and the tray 423 are driven to slide by the tray feeding motor 4471, and the tray 423 is adjusted to a designated position to prepare for entering a box pushing process. The cassette pushing mechanism is ready to be started to push the test tube cassette 421 loaded on the tray 423 to a specified position.
The box pushing process is as follows, the box pushing first motor 4541 is started to drive the box pushing rack 4532 and the pushing plate 4533 to lift to the height of the test tube box 421. The second cassette pushing motor 455 drives the cassette pushing synchronous belt 456 and the cassette pushing joist 453 to move, and the push plate 4533 on the cassette pushing joist 453 pushes the test tube cassette 421 to move. The test tube box carrying bottom plate 424 is arranged at a corresponding position on the middle-layer low beam 481, and the push plate 4533 pushes the test tube box 421 to move on the test tube box carrying bottom plate 424 and push the test tube box to a specified position on the automatic processing table 5.
In the case of the example 8, the following examples are given,
the picking mechanism 4 is mounted on a lift base of the conveying mechanism 3, and the conveying mechanism 3 includes:
the ground track 31, a ground track slide rail 311 is installed on the ground track 31; a main frame 32 is mounted on the ground track slide rail 311, and the main frame 32 is connected to the ground track slide rail 311 through a ground track slide block 313 and can slide along the ground track slide rail 311; the ground track 31 is also provided with a ground track rack 312; install body frame actuating mechanism 37 on the body frame 32, body frame actuating mechanism 37 includes output shaft connection body frame gear 372 of body frame motor 371, body frame gear 372 is connected with the meshing of ground track rack 312, and body frame motor 371 drive body frame 32 slides along ground track slide rail 311.
The main frame 32 is provided with a main frame rail 321, and the main frame rail 321 is a lifting rail of the lifting base 33. The lifting seat 33 is provided with a lifting seat slider 331, and the lifting seat 33 is connected to the main frame rail 321 through the lifting seat slider 331 and can slide up and down along the main frame rail 321.
The driving and transmission mechanism of the lifting seat 33 comprises a lifting seat driving mechanism 34 and a lifting seat transmission mechanism 36 which are arranged on the main frame 32; the lifting seat transmission mechanism 36 comprises a lifting seat synchronous belt 361, an upper lifting seat rotating shaft 362 and a lower lifting seat rotating shaft 362, two ends of the lifting seat rotating shaft 362 are connected with lifting seat gears 363, and the lifting seat synchronous belt 361 is connected with the upper lifting seat gears 363 and the lower lifting seat gears 363; the lifting seat 33 is provided with a lifting seat connecting piece 332, and the lifting seat 33 is fixedly connected with a lifting seat synchronous belt 361 through the lifting seat connecting piece 332; the lifting seat driving mechanism 34 comprises a lifting seat motor 341 and a lifting seat driving synchronous belt 342; the lifting seat rotating shaft 362 is also provided with a lifting seat driving gear 343; the output shaft of the lifting base motor 341 is connected to the lifting base driving gear 343 through the lifting base driving synchronous belt 342, and transmits the output power of the lifting base motor 341 to the lifting base rotating shaft 362 to drive the lifting base 33 to lift along the main frame rail 321.
The lifting base 33 is used for mounting a gripping mechanism, and the gripping mechanism is heavy and bulky in general, and has poor stability in lifting and moving. For this purpose, the invention is specifically designed with a counterweight mechanism 35. The main frame 32 is provided with a counterweight mechanism 35, and the counterweight mechanism 35 comprises a counterweight guide rail 351 arranged on the main frame 32 and a counterweight 352 arranged on the counterweight guide rail 351 and capable of sliding up and down along the counterweight guide rail 351; the main frame 32 is provided with a main frame pulley 322 and a steel wire rope 353, the steel wire rope 353 bypasses the main frame pulley 322, and two ends of the steel wire rope 353 are respectively connected with the balancing weight 352 and the lifting seat 33.
In the case of the example 9, the following examples are given,
in this embodiment, the counterweight guide rail 351 is provided with a counterweight bottom plate 356, the counterweight bottom plate 356 is provided with a plurality of counterweight blocks 352, the counterweight blocks 352 are provided with U-shaped holes, and the counterweight guide rail 351 is arranged in the U-shaped holes. The balancing weight 352 is provided with a through hole, a balancing weight insert 354 is arranged in the through hole, the bottom of the balancing weight insert 354 penetrates through the balancing weight bottom plate 356 and is provided with an insert limit 357, and the balancing weight 352 is limited. The end of the counterweight insert 354 is provided with an insert lug 355, the end of the lifting seat 33 is provided with a lifting seat lug 333, and the two ends of the steel wire rope 353 are respectively connected with the insert lug 355 and the lifting seat lug 333.
In the lifting process of the lifting seat 33, the counterweight 352 is arranged on the counterweight guide rail 351 to offset the gravity of part of the lifting seat 33, and the counterweight 352 with different quantity is carried to adjust the size of offsetting the gravity, thereby improving the stability of the whole device.
In the light of the above example 10,
in this embodiment, the transport mechanism 3 and the sorting mechanism 4 transport the test tube cassettes 21 to the automatic processing table 5, and the manual processing table 6 is provided opposite to the automatic processing table 5. The automatic processing table 5 is provided with a table-board 51, the table-board 51 is provided with a temporary storage area 55 for temporarily storing the biological sample kit, a scanner 53 and a scanning area 52 for scanning different biological sample test tubes and recording information. The manual processing table 6 is used for carrying biological samples to perform manual processing operation. The table 51 is provided with a docking area 54, a carrying mechanism 3, and a selecting mechanism 4 for carrying the test tube box 21 to the docking area 54 and carrying the test tube box to the manual processing table 6 or other designated positions through the transfer device 8.
In the case of the embodiment 11, the following examples are given,
the transfer device 8 comprises a transfer support frame 84 and an X-axis rail 81 arranged on the transfer support frame 84; a Y-axis rail 82 mounted on the X-axis rail 81 and slidable along the X-axis rail 81; a Z-axis rail 83 mounted on the Y-axis rail 82 and slidable along the Y-axis rail 82; a Z-axis carrying plate 831 mounted on the Z-axis rail 83 and slidable along the Z-axis rail 83; an automatic processing table 85 provided on the stroke of the Y-axis rail 82; the Z-axis carrying plate 831 is provided with a robot 7.
The invention designs a biological sample library sample transfer device, which comprises a manipulator arm 74 for clamping the test tube box, a manipulator driving motor 71 for driving the manipulator arm 74 to complete clamping, and a manipulator transmission mechanism 76.
The two manipulators 74 include a first manipulator 741 and a second manipulator 742; the robot actuator 76 includes a first robot rack 761, a second robot rack 762, and a drive gear shaft 763 provided between the first robot rack 761 and the second robot rack 762 and engaged with the first robot rack 761 and the second robot rack 762.
The first and second robot arms 741 and 742 are respectively fixedly connected to the first and second robot racks 761 and 762. The drive gear shaft 763 is connected to the robot drive motor 71.
The grabbing process is as follows: the driving motor 71 drives the driving gear shaft 763 to rotate, the first manipulator rack 761 and the second manipulator rack 762 are driven to slide in opposite directions, the first manipulator arm 741 and the second manipulator arm 742 are opened, the biological sample reagent tube grasping manipulator is driven by other mechanisms to the position of the test tube box 77 to be grasped, the driving motor 71 is continuously controlled to rotate in the opposite direction, the first manipulator arm 741 and the second manipulator arm 742 clamp the test tube box 77, and the test tube box 77 is driven by other mechanisms to move to a specified position.
Manipulator 7 sets up first stopper 751, second stopper 752, and first manipulator 741 connects first manipulator rack 761 through first stopper 751, and second manipulator 742 connects second manipulator rack 762 through second stopper 752, and first stopper 751, second stopper 752 play limiting displacement to first manipulator 741, second manipulator 742, avoid contacting the collision.
The packaging shell 72 is arranged outside the first manipulator rack 761 and the second manipulator rack 762, the manipulator slide rail 73 is arranged inside the packaging shell 72, the manipulator slide rail 73 comprises a first manipulator slide rail 731 and a second manipulator slide rail 732, and the first manipulator rack 761 and the second manipulator rack 762 are respectively connected into the first manipulator slide rail 731 and the second manipulator slide rail 732 through slide bars, so that the sliding motion is smooth, and the efficiency is greatly improved.
The manipulator 7 needs to be carried by an X-axis track 81, a Y-axis track 82 and a Z-axis track 83, an X-axis rack 811 is mounted on the X-axis track 81, an X-axis motor 812 is correspondingly mounted on the Y-axis track 82, an output shaft of the X-axis motor 812 is connected with an X-axis gear 813 meshed with the X-axis rack 811, and the X-axis motor 812 drives the Y-axis track 82 to slide along the X-axis track 81.
A Z-axis track 83 capable of sliding along the Y-axis track 82 is arranged on the Y-axis track 82, a Y-axis motor 823 is arranged on the Z-axis track 83, and an output shaft of the Y-axis motor 823 is connected with a Y-axis gear 824; a Y-axis rack 822 meshed with the Y-axis gear 824 is arranged on the Y-axis track 82; the Y-axis motor 823 drives the Z-axis track 83 to slide along the Y-axis track 82.
A Z-axis motor 832 is installed on the Z-axis track 83, and an output shaft of the Z-axis motor 832 is connected with a Z-axis gear 833; a Z-axis rack 834 meshed with the Z-axis gear 833 is arranged on the Z-axis carrying plate 831; the Z-axis motor 832 drives the Z-axis carrying plate 831 and the robot 87 to slide along the Z-axis rail 83.
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 (7)
1. An automated biological sample bank, comprising:
a storage mechanism (1) provided with a plurality of storage layers;
a tray mechanism (2) which is stored in the storage mechanism (1) and comprises a test tube box (21) and a tray (23);
a carrying mechanism (3) for transporting the tray mechanism (2);
an automatic processing table (5) for temporarily storing the test tube box (21);
a selecting mechanism (4) mounted on the conveying mechanism (3) and used for pulling out the tray (23) from the storage cabinet (1) and pushing the test tube box (21) in the tray (23) to the automatic processing table (5);
a transfer device (8) for transferring the test tube box (21) on the automatic processing table (5).
2. The automated biological sample library of claim 1,
the storage mechanism (1) comprises a storage cabinet (11) and a cabinet door mechanism (12) arranged on the storage cabinet (11);
a sealing door (14) arranged on the cabinet door mechanism (12);
a locking mechanism (13) for maintaining the sealed door (14) in a locking relationship with the cabinet door mechanism (12);
a handle (122) is arranged at the bottom of the tray (123);
the cabinet door mechanism (12) comprises a plurality of cabinet door frames (121), adjacent cabinet door frames (121) form a storage unit, a plurality of storage layers are arranged in each storage unit from top to bottom, and each storage layer is provided with a sealing door (14); a sliding rail (1211) is installed on the cabinet door frame (121), and sliding blocks (145) matched with the sliding rail (1211) are arranged at two ends of the sealing door (14) and used for realizing the up-and-down movement of the sealing door (14);
the top of each storage unit is provided with a maneuvering layer, and the maneuvering layer is provided with a sealing plate (122) for connecting adjacent cabinet door frames (121); the movable layer is not provided with a sealing door (14), when the sealing door (14) of a certain layer moves upwards, all the sealing doors (14) above the layer are driven to move upwards, and the position of the movable layer is occupied, so that the cabinet door mechanism of the layer is opened;
a sealing strip (142) is arranged at the contact part of the rear end of the sealing door (14) and the cabinet door frame (121); a labyrinth groove (1212) matched with the sealing strip (142) is formed in the cabinet door frame (121); the contact part of the rear end of the sealing door (14) and the cabinet door frame (121) is of a cuboid structure, sealing strips (142) with L-shaped sections are respectively arranged on the bottom surface and the side surface of the cuboid structure, and a labyrinth groove (1212) matched with the L-shaped sealing strips (142) is formed in the cabinet door frame (121); the sealing door (14) comprises a door plate (141), and the front end of the door plate (141) is provided with a door opening mechanism (143) for driving the sealing door (14) to lift by other mechanisms; a guard plate (144) used for reducing collision abrasion between the sealing doors (14) is arranged between the upper sealing door and the lower sealing door (14);
the locking mechanism (13) comprises:
a locking pressure plate (131) which is arranged at the outer side of the sealing door (14) and plays a role of pressing the sealing door (14); the eccentric mechanisms (136) are arranged at two ends of the locking pressing plate (131); one end of the eccentric mechanism (136) is connected into the bearing seat (132) through a rotating shaft (135), the other end of the eccentric mechanism is connected with an electric push rod (134), and the locking pressing plate (131) can rotate around the rotating shaft (135) under the pushing of the electric push rod (134) to realize the pressing of the sealing door (14); the electric push rod (134) and the bearing seat (132) are connected to the mounting seat (137) through the connecting seat (133).
3. The automated biological sample library of claim 1,
the carrying mechanism (3) comprises:
the ground track (31), the ground track (31) is provided with a ground track slide rail (311);
the main frame (32) is connected to the ground track sliding rail (311) through a ground track sliding block (313) and can slide along the ground track sliding rail (311);
a main frame rail (321) is arranged on the main frame (32);
the lifting seat (33), a lifting seat sliding block (331) is arranged on the lifting seat (33);
the lifting seat (33) is connected to the main frame rail (321) through a lifting seat sliding block (331) and can slide up and down along the main frame rail (321);
the main frame (32) is provided with a counterweight mechanism (35), the counterweight mechanism (35) comprises a counterweight guide rail (351) arranged on the main frame (32) and a counterweight block (352) which is arranged on the counterweight guide rail (351) and can slide up and down along the counterweight guide rail (351);
a main frame pulley (322) and a steel wire rope (353) are installed on the main frame (32), the steel wire rope (353) bypasses the main frame pulley (322), and two ends of the steel wire rope are respectively connected with a balancing weight (352) and a lifting seat (33);
the ground track (31) is also provided with a ground track rack (312); a main frame driving mechanism (37) is installed on the main frame (32), the main frame driving mechanism (37) comprises a main frame motor (371) and a main frame gear (372) connected with an output shaft of the main frame motor (371), the main frame gear (372) is meshed with the ground track rack (312) and is connected with the main frame gear, and the main frame motor (371) drives the main frame (32) to slide along the ground track slide rail (311);
the main frame (32) is provided with a lifting seat driving mechanism (34) and a lifting seat transmission mechanism (36); the lifting seat transmission mechanism (36) comprises a lifting seat synchronous belt (361) and an upper lifting seat rotating shaft (362) and a lower lifting seat rotating shaft (362), two ends of the lifting seat rotating shaft (362) are connected with a lifting seat gear (363), and the lifting seat synchronous belt (361) is connected with the upper lifting seat gear (363) and the lower lifting seat gear (363); a lifting seat connecting piece (332) is arranged on the lifting seat (33), and the lifting seat (33) is fixedly connected with a lifting seat synchronous belt (361) through the lifting seat connecting piece (332); the lifting seat driving mechanism (34) comprises a lifting seat motor (341) and a lifting seat driving synchronous belt (342); a lifting seat driving gear (343) is also arranged on the lifting seat rotating shaft (362); an output shaft of the lifting seat motor (341) is connected with the lifting seat driving gear (343) through a lifting seat driving synchronous belt (342), the output power of the lifting seat motor (341) is transmitted to a lifting seat rotating shaft (362), and the lifting seat (33) is driven to lift along the main frame rail (321);
a counterweight bottom plate (356) is mounted on the counterweight guide rail (351), a plurality of counterweight blocks (352) are carried on the counterweight bottom plate (356), U-shaped holes are formed in the counterweight blocks (352), and the counterweight guide rail (351) is arranged in the U-shaped holes; the counterweight block (352) is provided with a through hole, a counterweight block inserting strip (354) is arranged in the through hole, the bottom of the counterweight block inserting strip (354) penetrates through the counterweight bottom plate (356) and is provided with an inserting strip limiting (357) which has a limiting effect on the counterweight block (352); a cutting hanging lug (355) is installed at the end part of the balancing weight cutting (354), a lifting seat hanging lug (333) is arranged at the end part of the lifting seat (33), and two ends of a steel wire rope (353) are respectively connected with the cutting hanging lug (355) and the lifting seat hanging lug (333).
4. The automated biological sample library of claim 1,
the selecting mechanism (4) comprises:
a door opening mechanism (43) for lifting the sealing door;
a tray pulling mechanism (44) for pulling out the tray (23) from the storage cabinet (41);
a cassette pushing mechanism (45) for pushing the test tube cassette (21) in the pull-out tray (23) to the automatic operation table (5);
the door opening mechanism (43) includes:
the lifting device comprises a lifting support (431), and a lifting arm slide rail (4311), a lifting arm motor (432) and a ball screw (433) which are arranged on the lifting support (431); the output end of the arm lifting motor (432) is connected with a first arm lifting belt wheel (437), the end part of the ball screw (433) is connected with a second arm lifting belt wheel (438), and the first arm lifting belt wheel (437) is connected with the second arm lifting belt wheel (438) through a synchronous belt; the ball screw (433) is connected with a lifting arm sliding block (434), and the lifting arm sliding block (434) is lifted by driving the ball screw (433) to rotate through a lifting arm motor (432);
a lifting arm connecting seat (436) is arranged on the lifting arm sliding rail (4311), and the lifting arm connecting seat (436) is fixedly connected with the lifting arm sliding block (434); a swing arm (435) is installed on the lifting arm connecting seat (436), and a lifting rod (4353) for lifting the sealing door to open the door is arranged at the front end of the swing arm (435);
the arm lifting connecting seat (436) is also provided with a swing arm bearing seat (4352), the middle part of the swing arm (435) is connected to the swing arm bearing seat (4352) through a swing arm rotating shaft (4351), so that the swing arm (435) can rotate around the swing arm rotating shaft (4351);
the swing arm (435) is made of metal materials, an electromagnet (439) is arranged on the lifting arm connecting seat (436) at a position corresponding to the rear end of the swing arm (435), and the swing arm (435) is controlled to rotate by the electromagnet (439);
door opening mechanism (43), drawing dish mechanism (44), push away box mechanism (45) and install on frame roof beam mechanism, frame roof beam mechanism includes:
a low-level frame beam (46) provided with a low-level cross beam (461) and a low-level longitudinal beam (462);
a pair of gantry beams (47) mounted on the lower frame beam (46);
the middle-layer frame beam (48) is arranged between the pair of portal frame beams (47), and the middle-layer frame beam (48) comprises a middle-layer low beam (481) and a middle-layer high beam (482);
the high-rise truss girder (49) is arranged on the middle-rise truss girder (48), and the high-rise truss girder (49) comprises a first high-rise truss girder (491) arranged on the middle-rise low girder (481) and a second high-rise truss girder (492) arranged on the middle-rise high girder (482);
the disc pulling mechanism (44) comprises:
mounting plates (442) having both ends fixed to the pair of gantry beams (47), respectively;
a disk feeding slide rail (448) provided above the mounting plate (442);
a disk feeding slide block (4481) which is arranged on the disk feeding slide rail (448) and can slide along the disk feeding slide rail (448);
a tray carrying frame (444) fixedly connected to the tray feeding slider (4481);
a disk feeding drive unit (447) connected to the tray carrying frame (444);
the disc-feeding drive device (447) includes:
a tray feeding rack (4473) fixedly connected with the tray carrying frame (444);
a disk feeding connecting plate (4474) provided on the side of the mounting plate (442);
a disc feeding motor (4471) mounted on the disc feeding connecting plate (4474);
a disc-feeding gear (4472) connected with the disc-feeding motor (4471) and meshed with the disc-feeding rack (4473);
a linear slide rail (445) disposed below the mounting plate (442);
a slidable slide bar arranged in the linear slide rail (445);
a retractor assembly (441) connected to the slide;
a pull disc power mechanism (443) connected with the pull hook assembly (441);
the draw hook assembly (441) comprises a draw hook disc (4411), a draw hook (4412) is mounted on the draw hook disc (4411), and the draw hook (4412) is connected with a draw hook motor (4413) through a gear; the gear comprises a first drag hook gear (4414), a second drag hook gear (4415) and a third drag hook gear (4416), the first drag hook gear (4414) is connected with a drag hook motor (4413), the third drag hook gear (4416) is connected with a drag hook (4412) through a connecting shaft, the first gear (4414) and the third drag hook gear (4416) are connected through the second drag hook gear (4415), and the drag hook (4412) can be driven to rotate through the drag hook motor (4413);
the pull disc power mechanism (443) comprises a pull disc motor (4431) and two pull disc belt wheels (4432) fixed on the low-layer beam (461), the pull disc motor (4431) is connected to the pull disc belt wheels (4432) through a transmission shaft, a pull disc synchronous belt (4433) is installed between the two pull disc belt wheels (4432), the bottom of the pull disc (4411) is fixedly connected to the pull disc synchronous belt (4433), the pull disc motor (4431) drives the synchronous belt (4433) to rotate, and the pull disc (4411) is driven to slide along the linear sliding rail (445);
the box pushing mechanism (45) comprises a box pushing and carrying plate (451) arranged on a first frame beam (491) and a second frame beam (492) at a high layer, a box pushing slide rail (452) is arranged on the box pushing and carrying plate (451), and a box pushing supporting beam (453) capable of sliding along the box pushing slide rail (452) is arranged on the box pushing slide rail (452); the box pushing carrying plate (451) is also provided with a driving mechanism of a box pushing joist (453), the driving mechanism comprises a box pushing second motor (455) and a pair of box pushing belt wheels (457) connected by a box pushing synchronous belt (456), and the box pushing second motor (455) is connected with the box pushing belt wheels (457) through an output shaft; the box pushing joist (453) is fixedly connected to the box pushing synchronous belt (456) through a joist connecting plate (4534), and the box pushing synchronous belt (456) and the box pushing joist (453) are driven to move by a box pushing second motor (455);
a box pushing sliding rail (4531) is vertically arranged on the box pushing joist (453), a box pushing rack (4532) is connected to the box pushing sliding rail (4531) in a sliding manner, and a push plate (4533) is arranged on the box pushing rack (4532); push away the lift actuating mechanism who still installs push pedal (4533) on the box joist (453), actuating mechanism pushes away box gear (4542) including pushing away first motor of box (4541) and being connected with pushing away first motor of box (4541), push away box gear (4542) and push away box rack (4532) meshing, push pedal (4533) go up and down by pushing away first motor of box (4541) drive push away box rack (4532).
5. The automated biological sample library of claim 1,
the relay device (8) includes:
a transfer support frame (84) and an X-axis track (81) arranged on the transfer support frame (84);
a Y-axis rail (82) which is installed on the X-axis rail (81) and can slide along the X-axis rail (81);
a Z-axis track (83) which is installed on the Y-axis track (82) and can slide along the Y-axis track (82);
a Z-axis carrying plate (831) which is installed on the Z-axis track (83) and can slide along the Z-axis track (83);
an automatic processing table (5) arranged on the stroke of the Y-axis track (82);
an X-axis rack (811) is installed on the X-axis track (81), an X-axis motor (812) is correspondingly installed on the Y-axis track (82), an output shaft of the X-axis motor (812) is connected with an X-axis gear (813) meshed with the X-axis rack (811), and the X-axis motor (812) drives the Y-axis track (82) to slide along the X-axis track (81);
a Z-axis track (83) capable of sliding along the Y-axis track (82) is mounted on the Y-axis track (82), a Y-axis motor (823) is arranged on the Z-axis track (83), and an output shaft of the Y-axis motor (823) is connected with a Y-axis gear (824); a Y-axis rack (822) meshed with the Y-axis gear (824) is arranged on the Y-axis track (82); the Y-axis motor (823) drives the Z-axis track (83) to slide along the Y-axis track (82);
a Z-axis motor (832) is mounted on the Z-axis track (83), and an output shaft of the Z-axis motor (832) is connected with a Z-axis gear (833); a Z-axis rack (834) meshed with the Z-axis gear (833) is arranged on the Z-axis carrying plate (831); the Z-axis motor (832) drives the Z-axis carrying plate (831) to slide along the Z-axis track (83).
6. An automated biological sample library according to claim 5,
a manipulator (7) is arranged on the Z-axis carrying plate (831);
the manipulator (7) comprises a manipulator arm (74) for clamping the test tube box, a manipulator driving motor (71) for driving the manipulator arm (74) to complete the clamping action, and a manipulator transmission mechanism (76);
the manipulator (74) comprises a first manipulator (741) and a second manipulator (742);
the manipulator transmission mechanism (76) comprises a first manipulator rack (761), a second manipulator rack (762) and a drive gear shaft (763) which is arranged between the first manipulator rack (761) and the second manipulator rack (762) and is meshed with the first manipulator rack (761) and the second manipulator rack (762);
the first manipulator arm (741) and the second manipulator arm (742) are fixedly connected with the first manipulator rack (761) and the second manipulator rack (762) respectively;
the driving gear shaft (763) is connected with the manipulator driving motor (71) and is driven by the driving motor (71) to rotate so as to drive the first manipulator rack (761) and the second manipulator rack (762) to slide in opposite directions;
the first mechanical arm (741) is connected with a first mechanical rack (761) through a first limiting block (751), the second mechanical arm (742) is connected with a second mechanical rack (762) through a second limiting block (752), and the first limiting block (751) and the second limiting block (752) limit the first mechanical arm (741) and the second mechanical arm (742) to avoid contact collision;
the packaging shell (72) is arranged outside the first manipulator rack (761) and the second manipulator rack (762), a manipulator slide rail (73) is arranged inside the packaging shell (72), the manipulator slide rail (73) comprises the first manipulator slide rail (731) and the second manipulator slide rail (732), and the first manipulator rack (761) and the second manipulator rack (762) are respectively connected into the first manipulator slide rail (731) and the second manipulator slide rail (732) through slide bars.
7. An automated biological sample library according to claim 1, wherein: the automatic processing table (5) is provided with a table board (51), the table board (51) is provided with a temporary storage area (55) for temporarily storing a biological sample kit, a butt joint area (54) for butt joint with the selecting mechanism (4), and a scanning area (52) provided with a scanner (53) and used for scanning different biological sample test tubes to record information; the opposite surface of the automatic processing platform (5) is also provided with a manual processing platform (6) for carrying biological samples to carry out manual processing operation.
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| CN116130393A (en) * | 2022-12-14 | 2023-05-16 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
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