CN114229295B - Automatic biological sample library - Google Patents

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 including a test tube box and a tray stored in the storage mechanism; a handling mechanism for transporting the tray mechanism; an automatic processing table for temporarily storing test tube boxes; a selecting mechanism which is carried on the carrying mechanism and is 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 carrying test tube box on the automatic processing platform. 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 storing and transporting large-scale biological samples.

Description

Automatic biological sample library

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 ultralow temperature to guarantee the stability and the storage time of biological sample, simultaneously, because biological sample, bacterin kind, quantity are numerous, and storage cabinet usually selects multi-unit, multilayer classification to store, under ultralow temperature environment, the storage of biological sample needs to adopt automatic equipment of taking.

In order to ensure the normal operation of automatic taking equipment and reduce the energy consumption of the ultralow temperature storage area, the biological sample storage cabinet needs to be well sealed to prevent the leakage of the cold air of the ultralow temperature storage area. In the prior art, the sealing effect is better, and the top of the storage cabinet is opened by adopting a top sealing structure, so that the sealing effect of the structure is good, but a larger space is needed when the biological sample taking operation is carried out. The storage cabinet adopting the side sliding door has poor sealing effect, and the leakage of cold air in the low-temperature refrigeration area can cause the operation failure of external equipment and increase the energy consumption.

Meanwhile, in practical application, the selecting mechanism and the carrying mechanism are complex in structure, complicated in control process and poor in action execution efficiency, and particularly the selecting mechanism is large in size and weight, and the stability of the selecting and carrying processes is poor, so that the requirements of rapid grabbing and rapid transferring of multiple biological samples cannot be met.

In addition, the biological sample library needs to store different biological samples or vaccines and the like, and a transfer area is needed to input or take information on the different biological samples or vaccines through the transfer device in cooperation with manually input information.

Based on the method, an automatic biological sample library with high level and high automation degree is developed, and the method has important significance in realizing sealed storage, quick selection and quick carrying of samples of multi-unit and multi-layer storage cabinets.

Disclosure of Invention

The present invention is directed to an automated biological sample library to solve the above-mentioned problems.

An automated biological specimen library, comprising:

A storage mechanism provided with a plurality of storage layers;

a tray mechanism including a test tube box and a tray stored in the storage mechanism;

a handling mechanism for transporting the tray mechanism;

An automatic processing table for temporarily storing test tube boxes;

A selecting mechanism which is carried on the carrying mechanism and is 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 carrying test tube box on the automatic processing platform.

Further, the method comprises the steps of,

The storage mechanism comprises a storage cabinet and a cabinet door mechanism arranged on the storage cabinet;

the sealing door is arranged on the cabinet door mechanism;

the locking mechanism is used for keeping the locking relation 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 up-and-down movement of the sealing door;

a movable layer is arranged at the top of each storage unit, and a sealing plate for connecting adjacent cabinet door frames is arranged on the movable layer; when the sealing door of a certain layer moves upwards, all sealing doors above the layer are driven to move upwards, the position of the movable layer is occupied, and the door mechanism of the layer is opened;

A sealing strip is arranged at the contact part between 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 between the rear end of the sealing door and the cabinet door frame is of a cuboid structure, sealing strips with L-shaped sections are respectively arranged on the bottom surface and the side surface of the cuboid structure, and labyrinth grooves matched with the L-shaped sealing strips are formed in the cabinet door frame; the sealing door comprises a door plate, and the front end of the door plate is provided with a door opening mechanism for other mechanisms to drive the sealing door to lift; a guard board 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; eccentric mechanisms 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, the method comprises the steps of,

The handling mechanism includes:

the ground rail is provided with a ground rail slide 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;

A main frame rail is arranged on the main frame;

the lifting seat is provided with a lifting seat sliding block;

The lifting seat is connected with 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 arranged on the counterweight guide rail and capable of sliding 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 bypasses the main frame pulley, and two ends of the steel wire rope are respectively connected with the balancing weight and the 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 and a main frame gear connected with an output shaft of the main frame motor, the main frame gear is meshed with a ground track rack, and the main frame motor drives the main frame to slide along a 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 the 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; the lifting seat rotating shaft is also provided with a lifting seat driving gear; an output shaft of the lifting seat motor is connected with a 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 track;

The counterweight guide rail is provided with a counterweight bottom plate, a plurality of counterweights are carried on the counterweight bottom plate, U-shaped holes are formed in the counterweights, and the counterweight guide rail is arranged in the U-shaped holes; the balancing weight is provided with a through hole, a balancing weight cutting is arranged in the through hole, the bottom of the balancing weight cutting penetrates through the balancing weight bottom plate and is provided with cutting limiting, and the balancing weight is limited; the cutting hangers are installed at the ends of the balancing weight cutting, the lifting seat hangers are arranged at the ends of the lifting seat, and the two ends of the steel wire rope are respectively connected with the cutting hangers and the lifting seat hangers.

Further, the method comprises the steps of,

The selecting mechanism comprises:

The door opening mechanism is used for lifting the sealing door;

A tray pulling mechanism for pulling the tray out of the storage cabinet;

A pushing mechanism for pushing the test tube cassette in the pull-out tray toward the automatic operation table;

the door opening mechanism includes:

The lifting support is provided with a lifting arm sliding rail, a lifting arm motor and a ball screw; the output end of the arm lifting motor is connected with an arm lifting first belt wheel, the end part of the ball screw is connected with an arm lifting second belt wheel, and the arm lifting first belt wheel is connected with the arm lifting second belt wheel through a synchronous belt; the ball screw is connected with an arm lifting sliding block, and the arm lifting sliding block is lifted by driving the ball screw to rotate through an arm lifting motor;

The lifting arm sliding rail is provided with a lifting arm connecting seat which is fixedly connected with the lifting arm sliding block; a swing arm is arranged on the lifting arm connecting seat, and the front end of the swing arm is provided with a ram for lifting the sealing door to open the door;

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 lifting arm connecting seat, and the swing arm is controlled to rotate through the electromagnet;

The door opening mechanism, the pulling disc mechanism and the box pushing mechanism are arranged on the girder erecting mechanism, and the girder erecting mechanism comprises:

the lower layer frame beam is provided with a lower layer cross beam and a lower layer longitudinal beam;

a pair of door-type frame beams mounted on the lower-layer frame beam;

the middle layer frame beam is arranged between the pair of door frame beams and comprises a middle layer low beam and a middle layer high beam;

the high-rise frame beam is arranged on the middle-layer frame beam and comprises a high-rise first frame beam arranged on the middle-layer lower beam and a high-rise second frame beam arranged on the middle-layer upper beam;

The pull disc mechanism comprises:

The two ends of the mounting plate are respectively fixed on the pair of door-type frame beams;

A tray feeding slide rail arranged above the mounting plate;

a tray feeding slide block which is arranged on the tray feeding slide rail and can slide along the tray feeding slide rail;

a tray carrying frame fixedly connected to the tray feeding slide block;

a tray feeding driving device connected with the tray carrying frame;

the tray feeding driving device includes:

a tray feeding rack fixedly connected with the tray carrying frame;

a tray feeding connecting plate arranged at the side of the mounting plate;

A tray feeding motor mounted on the tray feeding connecting plate;

a disk feeding gear which is connected with the disk feeding motor and meshed with the disk feeding rack;

The linear slide rail is arranged below the mounting plate;

a sliding strip arranged in the linear slide rail and capable of sliding;

The drag hook assembly is connected to the slide bar;

A pulling disc power mechanism connected with the pulling hook assembly;

the drag hook assembly comprises a drag hook disc, a drag hook is arranged on the drag hook disc, and the drag hook is connected with a drag hook motor through a gear; the gear comprises a first gear, a second gear and a third gear, the first gear is connected with a drag hook motor, the third gear is connected with the drag hook through a connecting shaft, the first gear and the third gear are connected through the second gear, and the drag hook motor can drive the drag hook to rotate;

The pulling disc power mechanism comprises a pulling disc motor and two pulling disc belt wheels fixed on the lower-layer beam, the pulling disc motor is connected to the pulling disc belt wheels through a transmission shaft, a pulling disc synchronous belt is installed between the two pulling disc belt wheels, the bottom of the pulling hook disc is fixedly connected to the pulling disc synchronous belt, and the pulling disc motor drives the synchronous belt to rotate so as to drive the pulling hook disc to slide along the linear slide rail;

the box pushing mechanism comprises a box pushing carrying plate arranged on a first high-rise frame beam and a second high-rise frame beam, a box pushing sliding rail is arranged on the box pushing carrying plate, and a box pushing supporting beam capable of sliding along the box pushing sliding rail is arranged on the box pushing sliding rail; the pushing box carrying plate is also provided with a driving mechanism of a pushing box joist, the driving mechanism comprises a pushing box second motor and a pair of pushing box belt wheels connected by a pushing box synchronous belt, and the pushing box second motor is connected with the pushing box belt wheels through an output shaft; the pushing box joist is fixedly connected to the pushing box synchronous belt through a joist connecting plate, and the pushing box synchronous belt and the pushing box joist are driven by a pushing box second motor to move;

The pushing box supporting beam is provided with a pushing box sliding rail which is vertically provided with a pushing box rack in sliding connection, and the pushing box rack is provided with a pushing plate; the push box supporting beam is also provided with a lifting driving mechanism of the push plate, the driving mechanism comprises a push box first motor and a push box gear connected with the push box first motor, the push box gear is meshed with the push box rack, and the push box first motor drives the push box rack and the push plate to lift.

Further, the method comprises the steps of,

The transfer device comprises:

the transfer support frame and the X-axis track arranged on the transfer support frame;

a Y-axis rail mounted on the X-axis rail and slidable along the X-axis rail;

The Z-axis track 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;

An automatic processing table arranged on the Y-axis track travel;

An X-axis rack is arranged on the X-axis track, an X-axis motor is correspondingly arranged 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;

the Y-axis track is provided with a Z-axis track which can slide along the Y-axis track, the Z-axis track is provided with a Y-axis motor, 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 arranged 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 carrying board; the Z-axis motor drives the Z-axis carrying plate to slide along the Z-axis track.

Further, the method comprises the steps of,

A manipulator is arranged on the Z-axis carrying board;

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 manipulator arms comprise a first manipulator arm and a second manipulator 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 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 manipulator arm is connected with the first manipulator rack through a first limiting block, the second manipulator arm is connected with the second manipulator rack through a second limiting block, and the first limiting block and the second limiting block play a limiting role on the first manipulator arm and the second manipulator arm, so that contact collision is avoided;

The outer sides of the first manipulator rack and the second manipulator rack are provided with packaging shells, manipulator sliding rails are arranged in the packaging shells, each manipulator sliding rail comprises a first manipulator sliding rail and a second manipulator sliding rail, and the first manipulator rack and the second manipulator rack are connected into the first manipulator sliding rail and the second manipulator sliding rail through sliding strips respectively;

Further, a table top is arranged on the automatic processing table, a temporary storage area for temporarily storing biological sample reagent boxes, a docking area for docking with a selection mechanism and a scanning area for scanning and recording information for different biological sample test tubes are arranged on the table top; the automatic processing table is also provided with a manual processing table opposite to the automatic processing table and is used for carrying biological samples for manual processing operation.

Compared with the prior art, the invention has the beneficial effects that:

In the storage mechanism, the cabinet door adopts an up-and-down sliding opening and closing mode, a maneuvering space is reserved at the top of the cabinet door unit, the cabinet door at any layer can be pushed upwards, the door opening and closing process can be automatically realized through the action of gravity, and the complexity of opening and closing actions of the cabinet door and the space required by opening and closing the cabinet door 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 tightness of the cabinet door is improved, and the energy consumption of the refrigeration house is reduced; the locking mechanism adopting the electric push rod as power is designed, the electric push rod is converted into the pressure of the locking pressing plate to the sealing door through the eccentric mechanism, and the locking mechanism has the advantages of simplicity in control, good locking effect and low cost.

In the carrying mechanism, the stability of the carrying process is enhanced through the mechanical structure design, the main frame with the counterweight mechanism and the lifting seat is designed, the main frame is provided with the pulley with the steel wire rope, 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, thus a storage shelf can be arranged on one side or two sides of the carrying mechanism, and different cargo grabbing mechanisms can be continuously installed on the lifting seat according to different cargo storing and taking modes, so that the requirement of carrying large-size and heavy-weight grabbing mechanisms can be met.

In the selecting mechanism, aiming at the low-temperature storage bin in an up-and-down sliding opening and closing mode, a door opening mechanism, a tray pulling mechanism and a box pushing mechanism with high automation degree are designed, the sealing door is lifted and opened through the door opening mechanism, the tray is pulled out through the tray pulling mechanism, the tray is conveyed to a designated position through a tray conveying mechanism arranged in the tray pulling mechanism, the test tube box in the tray is pushed out through the box pushing mechanism, manual participation is not needed in the whole process, the automation level is high, the mechanical structure design of the door opening mechanism, the tray pulling mechanism and the box pushing mechanism is reasonable, and the connection efficiency of each action is high.

Fourth, in the transfer device of the invention, the X-axis track, the Y-axis track and the Z-axis track are designed for carrying the manipulator to move, so that the manipulator can carry out the taking and moving operation on the biological samples on the processing table according to the design requirement, and the information of different biological samples can be rapidly and efficiently input and different biological sample reagents can be selected through the automatic processing table and the manual processing table, thereby improving the working efficiency and the application range of the biological sample library;

Fifth, the manipulator carried in the transfer device designed by the invention simplifies the control process through the mechanical structure design, designs the first manipulator rack, the second manipulator rack and the driving gear shaft transmission mechanism meshed with the first manipulator rack and the second manipulator rack, and drives the first manipulator rack and the second manipulator rack to move in opposite directions in the rotation process of the driving gear shaft, 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 the 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, so that the limiting effect is achieved, and the contact collision is avoided; the packaging shell is designed, the sliding rails of the first manipulator rack and the second manipulator rack are arranged inside the packaging shell, smooth sliding actions of the first manipulator rack and the second manipulator rack are guaranteed, and efficiency is greatly improved.

Sixth, the automated biological sample library provided by the invention can meet the requirements of sealing 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 storing and transporting large-scale biological samples.

Drawings

FIG. 1 is a schematic diagram of an automated biological specimen library;

FIG. 2 is a schematic diagram of the structure of the storage cabinet, the cabinet door mechanism and the locking mechanism;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a schematic view of a door mechanism and a sealing door;

FIG. 5 is a schematic diagram of the door mechanism and the locking mechanism;

FIG. 6 is a schematic diagram of a locking mechanism;

FIG. 7 is a schematic view of the structure of the electric push rod and the locking pressing plate;

FIG. 8 is a schematic view of a locking pressure plate;

FIG. 9 is a schematic view of the front structure of the sealing door;

FIG. 10 is a schematic view of the back structure of the seal door;

FIG. 11 is a schematic view of the low temperature automated warehouse structure in example 1;

FIG. 12 is a schematic diagram of a storage mechanism and a selection mechanism;

FIG. 13 is a schematic view of a storage bin and tray mechanism;

FIG. 14 is a schematic view of a first view angle structure of the selection mechanism;

FIG. 15 is a schematic view of a second view angle structure of the selecting mechanism;

FIG. 16 is a schematic view of a third view angle structure of the selection mechanism;

FIG. 17 is a schematic view of a door opening mechanism;

FIG. 18 is a first view structural schematic diagram of a pull cup mechanism;

FIG. 19 is a second view of the tray mechanism;

FIG. 20 is a schematic drawing of a retractor disc configuration;

FIG. 21 is a third perspective view of the pull cup mechanism;

FIG. 22 is a schematic view of a fourth view of the pull cup mechanism;

FIG. 23 is a schematic diagram of a pushing mechanism;

FIG. 24 is a schematic view showing the overall structure of the present transporting mechanism;

FIG. 25 is a schematic view of a main frame structure;

FIG. 26 is a schematic view of a lifting seat;

FIG. 27 is a schematic view of a ground track structure;

FIG. 28 is a schematic view of a weight;

FIG. 29 is a schematic view of a weight mechanism;

FIG. 30 is a schematic view of a transfer device for a biological sample library sample;

FIG. 31 is a schematic view of the structure of the X-axis track, Y-axis track, and Z-axis track;

FIG. 32 is an enlarged schematic view of a portion of the structure of FIG. 31;

FIG. 33 is a schematic view 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 overall structure of the manipulator;

FIG. 35 is a schematic view of the internal structure of the manipulator;

FIG. 36 is a second schematic view of the internal structure of the manipulator;

FIG. 37 is a schematic view of a test tube cassette and a manipulator arm;

Fig. 38 is a schematic view of the structure of an automatic processing table and a manual processing table.

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 sliding 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 plate 141, the sealing strip 142, the door opening mechanism 143, the guard plate 144, the sliding block 145, the sealing plate,

A tray mechanism 2,

Test tube box 21, handle 22, tray 23, test tube box mounting base plate 24,

A conveying mechanism 3,

Ground track 31, ground track rail 311, ground track rack 312, ground track slider 313, main frame 32, main frame rail 321, main frame pulley 322, lifting seat 33, lifting seat slider 331, lifting seat connector 332, lifting seat suspension tab 333, lifting seat drive mechanism 34, lifting seat motor 341, lifting seat drive timing belt 342, lifting seat drive gear 343, counterweight mechanism 35, counterweight guide rail 351, counterweight 352, wire rope 353, counterweight strip 354, strip suspension tab 355, counterweight bottom plate 356, strip stop 357, lifting seat drive mechanism 36, lifting seat timing belt 361, lifting seat rotation shaft 362, lifting seat gear 363, main frame drive mechanism 37, main frame motor 371, main frame gear 372, and main frame gear,

A selecting mechanism 4,

A door opening mechanism 43,

Lifting support 431, lifting arm sliding rail 4311, lifting arm motor 432, ball screw 433, lifting arm sliding block 434, swing arm 435, swing arm rotating shaft 4351, swing arm bearing seat 4352, ram 4353, lifting arm connecting seat 436, lifting arm first belt wheel 437, lifting arm second belt wheel 438,

The pulling disc mechanism 44, the pulling hook assembly 441, the pulling disc 4411, the pulling hook 4412, the pulling hook motor 4413, the pulling hook first gear 4414, the pulling hook second gear 4415, the pulling hook third gear 4416,

Mounting plate 442, tray driving mechanism 443, tray motor 4431, tray pulley 4432, tray timing belt 4433, tray mounting frame 444, linear slide rail 445, connecting bridge 446, tray feeding driving device 447, tray feeding motor 4471, tray feeding gear 4472, tray feeding rack 4473, tray feeding connecting plate 4474, tray feeding slide rail 448, tray feeding slider 4481, tray feeding rack,

The pushing mechanism 45, the pushing carrying plate 451, the pushing slide rail 452, the pushing joist 453, the pushing slide rail 4531, the pushing rack 4532, the pushing plate 4533, the joist connecting plate 4534, the pushing power mechanism 454, the pushing first motor 4541, the pushing gear 4542, the pushing second motor 455, the pushing synchronous belt 456, the pushing wheel 457,

A lower girder 46, a lower beam 461, a lower girder 462, a portal girder 47, a middle girder 48,

Middle low beam 481, middle high beam 482, high beam 49, high first beam 491, high second beam 492, automatic processing table 5, table top 51, scanning zone 52, scanner 53, docking zone 54, temporary storage zone 55, manual processing table 6,

A mechanical arm 7,

The robot driving motor 71, the package case 72, the robot slide rail 73, the first robot slide rail 731, the second robot slide rail 732, the robot arm 74, the first robot arm 741, the second robot arm 742, the stopper 75, the first stopper 751, the second stopper 752, the robot transmission mechanism 76, the first robot rack 761, the second robot rack 762, and the driving gear shaft 763.

A transfer device 8,

X-axis rail 81, X-axis rack 811, X-axis motor 812, X-axis gear 813,

Y-axis rail 82, Y-axis rack 822, Y-axis motor 823, Y-axis gear 824,

The 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 middle rotating support frame 84.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-38, the present invention provides an automated biological sample library, which includes a storage mechanism 1 provided with a plurality of storage layers; a tray mechanism 2 including a test tube cassette 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 boxes 21; a selecting mechanism 4 mounted on the carrying mechanism 3 for pulling out the tray 23 from the storage cabinet 1 and pushing the test tube cassette 21 in the tray 23 toward the automatic processing table 5; and a transfer device 8 for transferring the test tube cassette 21 on the automatic processing table 5.

In the case of example 1,

In this embodiment, the storage mechanism 1 includes a storage cabinet 11 and a cabinet door mechanism 12 mounted on the storage cabinet 11; the cabinet door mechanism 12 is provided with a sealing door 14; a locking mechanism 13 for maintaining the sealing door 14 in locking relation with the door mechanism 12 is mounted on the outside of the sealing door 14.

The cabinet door mechanism 12 comprises a plurality of cabinet door frames 121, wherein 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 sliding rail 1211, two ends of the sealing door 14 are provided with sliding blocks 145 matched with the sliding rail 1211, and the sealing door 14 can move up and down under the action of the sliding blocks and the sliding rails.

A motorized layer is provided on top of each storage unit, said motorized layer being provided with a sealing plate 122 connecting adjacent cabinet door frames 121; the movable floor is not provided with sealing doors 14, when the sealing door 14 of a certain floor moves upwards, all sealing doors 14 above the certain floor are driven to move upwards, the sealing door 14 of the lower floor occupies the position of the movable floor, and the door mechanism of the floor is opened.

A sealing strip 142 is arranged at the contact part between 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 part between the rear end of the sealing door 14 and the cabinet door frame 121 is a cuboid structure, sealing strips 142 with L-shaped cross sections are respectively arranged on the bottom surface and the side surface of the cuboid structure, the narrow sides of the two sealing strips are arranged close to each other, and labyrinth grooves 1212 matched with the L-shaped sealing strips 142 are formed in the cabinet door frame 121.

The sealing door 4 comprises a door plate 141, and a door opening mechanism 143 for other mechanisms to drive the sealing door 4 to lift is arranged at the front end of the door plate 141. A manipulator can be arranged to drive the sealing doors 14 to lift, abrasion can possibly occur between the sealing doors 14 in the door opening action process, and a guard plate 144 is arranged between adjacent sealing doors 14, so that the abrasion of the sealing doors 14 is reduced.

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 outer side of the sealing door 14 is provided with the locking pressing plate 131 which plays a role in pressing the sealing door 14; the two ends of the locking pressing plate 131 are provided with eccentric mechanisms 136; one end of the eccentric mechanism 136 is connected to the bearing seat 132 through a rotating shaft 135, the other end is connected to the 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, so that the sealing door 14 is tightly pressed. The electric push rod 134 and the bearing seat 32 are connected to the mounting seat 137 through the connecting seat 133.

The eccentric mechanism 136 has a cuboid structure, the electric push rod 134 is connected to one corner of the cuboid, a rotating shaft 135 and a locking pressing plate 131 are arranged at the diagonal position of the corner, the transverse expansion of the electric push rod 134 drives the rotating shaft 135 to rotate in the bearing seat 132, and the locking pressing plate 131 is further driven to rotate at a small angle, so that the sealing door 4 is tightly pressed.

The storage mechanism 1 can also be a low-temperature automatic warehouse 15, which comprises a cabinet door sealing mechanism, wherein 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 upper and lower mounting seats 137, and is connected to the low-temperature automation warehouse 15 through the mounting seats 137.

In the case of example 2,

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 tray 23 is arranged in a plurality of storage layers of the storage cabinet 1, and a plurality of test tube boxes 21 are placed in the tray 23.

In the case of example 3,

In this embodiment, an automated biological sample library further includes a selection mechanism 4, where the selection mechanism 4 includes:

a door opening mechanism 43 for lifting the sealing door, a tray pulling mechanism 44 for pulling the tray 23 out of the storage cabinet 11, and a cassette pushing mechanism 45 for pushing the test tube cassette 21 in the pulled tray 23 toward the automatic processing table 5.

The door opening mechanism 43 comprises a lifting support 431, and an arm lifting sliding rail 4311, an arm lifting 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 an arm lifting first belt pulley 437, the end of the ball screw 433 is connected with an arm lifting second belt pulley 438, and the arm lifting first belt pulley 437 is connected with the arm lifting second belt pulley 438 through a synchronous belt. The ball screw 433 is connected with an arm lifting slider 434, and the arm lifting motor 432 drives the ball screw 433 to rotate so as to realize lifting of the arm lifting slider 434.

The lifting arm sliding rail 4311 is provided with a lifting arm connecting seat 436, and the lifting arm connecting seat 436 is fixedly connected with the lifting arm sliding block 434; a swing arm 435 is arranged on the lifting arm connecting seat 436, and a ram 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 example 4,

In this embodiment, a special structure is designed for realizing a small-range rotational swing of the swing arm. The arm lifting connection seat 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 material, an electromagnet 439 is arranged on the position, corresponding to the rear end of the swing arm 435, of the lifting arm connecting seat 436, and the electromagnet 439 generates magnetism after being electrified, so that the swing arm 435 is attracted to rotate around the 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 example 5 the process was carried out,

In this embodiment, the present invention designs a girder on which the door opening mechanism 43, the pulling disc mechanism 44, and the box pushing mechanism 45 are mounted, the door opening mechanism 43, the pulling disc mechanism 44, and the box pushing mechanism 45 are mounted on the girder erecting mechanism, the girder erecting mechanism includes a low-level girder erecting 46, and the low-level girder erecting 46 includes 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 door frame beams 47 for supporting are mounted on the front and rear of the lower frame beam 46, and a middle frame beam 48 is mounted between the pair of door frame beams 47, and the middle frame beam 48 comprises a middle lower beam 481 and a middle upper beam 482.

A high-rise girder 49 is installed above the middle girder 48, and the high-rise girder 49 includes a high-rise first girder 491 installed on the middle girder 481 and a high-rise second girder 492 installed on the middle girder 482.

In example 6 the process was carried out,

This example relates to a slider mechanism 44, the slider mechanism 44 including a mounting plate 442 having both ends fixed to a pair of door frame beams 47, respectively. The mounting plate 442 is provided with left and right. A tray feed slide 448 is disposed above the mounting plate 442. A tray feed slider 4481 is mounted on the tray feed rail 448 so as to be slidable along the tray feed rail 448; a tray carrying frame 444 is fixedly connected to the tray feeding slide 4481; the tray feed rail 448 and the tray mounting frame 444 are provided in two, 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 which comes from the disc feed driving device 447; the tray feeding drive device 447 includes a tray feeding rack 4473 fixedly connected to the tray loading frame 444; a tray feeding connecting plate 4474 is arranged on the side of the mounting plate 442; a tray feeding motor 4471 is mounted on the tray feeding connecting plate 4474; a tray feeding gear 4472 meshed with the tray feeding rack 4473 is connected to the tray feeding motor 4471; the tray feeding motor 4471 is driven to the tray feeding rack 4473 by the tray feeding gear 4472, and the tray feeding rack 4473 drives the tray loading frame 444 to slide, and the tray 423 is loaded on the tray loading frame 444, so that the position of the tray 423 can be adjusted.

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 a structure related to a tray pulling mechanism 44 described below.

A linear slide 445 is disposed below the mounting plate 442, and a slidable slide bar is disposed within the linear slide 445, with the upper bottom of the slide bar being connected to the retractor assembly 441. The retractor assembly 441 is powered by a retractor disc power mechanism 443 to perform a retractor operation.

The pulling disc power mechanism 443 comprises a pulling disc motor 4431 and two pulling disc belt wheels 4432 fixed on the lower beam 461, the pulling disc motor 4431 is connected to the pulling disc belt wheels 4432 through a transmission shaft, a pulling disc synchronous belt 4433 is installed between the two pulling disc belt wheels 4432, the bottom of the pulling disc 4411 is fixedly connected to the pulling disc synchronous belt 4433, and the pulling disc motor 4431 drives the synchronous belt 4433 to rotate so as to drive the pulling disc 4411 to slide along the linear slide rail 445.

The drag hook assembly 441 comprises a drag hook disc 4411, a drag hook 4412 is arranged on the drag hook disc 4411, and the drag hook 4412 is connected with a drag hook motor 4413 through a gear.

In a preferred scheme, the gears comprise a first gear 4414, a second gear 4415 and a third gear 4416, wherein the first gear 4414 is connected with a drag motor 4413, the third gear 4416 is connected with a drag 4412 through a connecting shaft, the first gear 4414 and the third gear 4416 are connected through the second gear 4415, and the drag 4412 can be driven to rotate through the drag motor 4413.

In example 7,

The present embodiment relates to a box pushing mechanism 45, where the box pushing mechanism 45 includes a box pushing carrying plate 451 mounted on a high-rise first frame beam 491 and a high-rise second frame beam 492, a box pushing sliding rail 452 is provided on the box pushing carrying plate 451, and a box pushing joist 453 capable of sliding along the box pushing sliding rail 452 is mounted on the box pushing sliding 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 pulleys 457 connected by a pushing box synchronous belt 456, and the pushing box second motor 455 is connected with the pushing box belt pulleys 457 through an output shaft; the pushing box joist 453 is fixedly connected to the pushing box synchronous belt 456 through a joist connecting plate 4534, and the pushing box synchronous belt 456 and the pushing box joist 453 are driven to move by the pushing box second motor 455.

A pushing box sliding rail 4531 is vertically arranged on the pushing box joist 453, a pushing box rack 4532 is connected to the pushing box sliding rail 4531 in a sliding manner, and a pushing plate 4533 is arranged on the pushing box rack 4532; the push box joist 453 is also provided with a lifting driving mechanism of the push plate 4533, the driving mechanism comprises a push box first motor 4541 and a push box gear 4542 connected with the push box first motor 4541, the push box gear 4542 is meshed with the push box rack 4532, and the push box first motor 4541 drives the push box rack 4532 and the push plate 4533 to lift.

The door opening process of the invention is as follows, the arm lifting motor 432 drives the ball screw 433 to rotate to realize the lifting of the arm lifting sliding block 434 and the lifting of the swing arm 435 to the designated sealing door height, the electromagnet 439 is electrified to drive the swing arm 435 to rotate around the swing arm rotating shaft 4351, the ram 4353 extends to the sealing door, the sealing is lifted upwards by a stroke height, and the sealing door is opened.

The process of pulling and feeding the tray is as follows, after the sealing door is opened, the pulling tray motor 4431 drives the pulling tray 4411 to slide along the linear slide rail 445, the pulling hook 4412 of the pulling tray 4411 slides into the storage layer for opening the sealing door, the pulling hook 4412 of the pulling tray 4411 hooks the handle 422 at the bottom of the tray 423, and the tray 423 is pulled out onto the tray carrying frame 444. The drag hook 4412 is driven to rotate by the drag hook motor 4413, so that the drag 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 specified position to prepare for entering the box pushing process. The cartridge pushing mechanism is ready to be started to push the test tube cartridge 421 mounted on the tray 423 to a specified position.

The pushing process is as follows, and the first motor 4541 is started to drive the rack 4532 and the push plate 4533 to rise and fall to the height of the test tube box 421. The pushing box second motor 455 drives the pushing box synchronous belt 456 and the pushing box joist 453 to move, and the pushing plate 4533 on the pushing box joist 453 pushes the test tube box 421 to move. The middle-layer lower beam 481 is provided with a test tube box carrying bottom plate 424 at a corresponding position, and a push plate 4533 pushes the test tube box 421 to move on the test tube box carrying bottom plate 424 and push to a designated position on the automatic processing table 5.

In the case of example 8,

The selecting mechanism 4 is mounted on a lifting seat of the carrying mechanism 3, and the carrying mechanism 3 includes:

A ground rail 31, wherein a ground rail slide rail 311 is installed on the ground rail 31; the main frame 32 is arranged 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 rail 31 is also provided with a ground rail rack 312; the main frame 32 is provided with a main frame driving mechanism 37, 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 connected with the ground track rack 312 in a meshed manner, 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 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 sliding block 331, and the lifting seat 33 is connected to the main frame rail 321 through the lifting seat sliding block 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, wherein 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 gear 363 and the lower lifting seat gear 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 includes 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 seat motor 341 is connected with the lifting seat driving gear 343 through the lifting seat driving synchronous belt 342, and the output power of the lifting seat motor 341 is transmitted to the lifting seat rotating shaft 362 to drive the lifting seat 33 to lift along the main frame rail 321.

The lifting base 33 is used for carrying a grabbing mechanism, and the grabbing mechanism is heavy and large in size and poor in lifting and moving stability under normal conditions. For this purpose, the invention is specifically designed with a counterweight mechanism 35. The main frame 32 is provided with a weight mechanism 35, and the weight mechanism 35 comprises a weight guide rail 351 arranged on the main frame 32 and a weight block 352 arranged on the weight guide rail 351 and capable of sliding up and down along the weight 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 example 9 the process was carried out,

In this embodiment, the counterweight bottom plate 356 is mounted on the counterweight guide rail 351, the counterweight bottom plate 356 is mounted with a plurality of counterweights 352, the counterweights 352 are provided with "U" shaped holes, and the counterweight guide rail 351 is disposed in the "U" shaped holes. The balancing weight 352 is provided with a through hole, a balancing weight inserting strip 354 is arranged in the through hole, the bottom of the balancing weight inserting strip 354 penetrates through the balancing weight bottom plate 356 and is provided with an inserting strip limit 357, and the balancing weight 352 is limited. The cutting hanging lugs 355 are arranged at the end parts of the balancing weight cutting 354, the lifting seat hanging lugs 333 are arranged at the end parts of the lifting seat 33, and the cutting hanging lugs 355 and the lifting seat hanging lugs 333 are respectively connected with the two ends of the steel wire rope 353.

In the lifting process of the lifting seat 33, the weight of part of the lifting seat 33 is offset by arranging the weights 352 on the weight guide rail 351, and the size of the offset weight is adjusted by carrying different numbers of weights 352, so that the stability of the whole device is improved.

In the example 10 of the present invention,

In this embodiment, the carrying mechanism 3 and the selecting mechanism 4 carry the test tube cassette 21 to the automatic processing table 5, and a manual processing table 6 is provided opposite to the automatic processing table 5. The automatic processing table 5 is provided with a table top 51, the table top 51 is provided with a temporary storage area 55 for temporarily storing biological sample kits, and a scanner 53 is provided with a scanning area 52 for scanning and recording information for different biological sample test tubes. The manual processing table 6 is used for carrying biological samples for manual processing operation. The table top 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 example 11,

The transfer device 8 comprises a transfer support frame 84 and an X-axis track 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 mounting 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 robot 7 is mounted on the Z-axis mounting board 831.

The invention designs a biological sample warehouse 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 action and a manipulator transmission mechanism 76.

The two manipulators 74 include a first manipulator 741 and a second manipulator 742; the hand transmission mechanism 76 includes a first hand rack 761, a second hand rack 762, and a drive gear shaft 763 provided in the middle of the first hand rack 761, the second hand rack 762 and meshed with the first hand rack 761, the second hand rack 762.

The first and second robot arms 741 and 742 are fixedly connected to the first and second robot racks 761 and 762, respectively. 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, drives the first manipulator rack 761 and the second manipulator rack 762 to slide in opposite directions, enables the first manipulator 741 and the second manipulator 742 to open, enables the biological sample reagent tube grabbing manipulator to be driven to the position of the test tube box 77 to be grabbed by other mechanisms, continuously controls the driving motor 71 to rotate reversely, enables the first manipulator 741 and the second manipulator 742 to clamp the test tube box 77, and enables the test tube box 77 to be driven to move to a designated position by other mechanisms.

The manipulator 7 is provided with a first limiting block 751 and a second limiting block 752, the first manipulator arm 741 is connected with the first manipulator rack 761 through the first limiting block 751, the second manipulator arm 742 is connected with the second manipulator rack 762 through the second limiting block 752, and the first limiting block 751 and the second limiting block 752 play a limiting role on the first manipulator arm 741 and the second manipulator arm 742, so that contact collision is avoided.

The package shell 72 is arranged on the outer sides of the first manipulator rack 761 and the second manipulator rack 762, the manipulator slide rail 73 is arranged in the package shell 72, the manipulator slide rail 73 comprises a first manipulator slide rail 731 and a second manipulator slide rail 732, the first manipulator rack 761 and the second manipulator rack 762 are respectively connected in the first manipulator slide rail 731 and the second manipulator slide rail 732 through sliding strips, so that sliding action is smooth, and efficiency is greatly improved.

The movement of the manipulator 7 is carried by an X-axis rail 81, a Y-axis rail 82 and a Z-axis rail 83, wherein an X-axis rack 811 is arranged on the X-axis rail 81, an X-axis motor 812 is correspondingly arranged on the Y-axis rail 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 rail 82 to slide along the X-axis rail 81.

The Y-axis track 82 is provided with a Z-axis track 83 which can slide along the Y-axis track 82, the Z-axis track 83 is provided with a Y-axis motor 823, and an output shaft of the Y-axis motor 823 is connected with a Y-axis gear 824; y-axis rack 822 meshed with Y-axis gear 824 is provided on Y-axis rail 82; the Y-axis motor 823 drives the Z-axis rail 83 to slide along the Y-axis rail 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 engaged with the Z-axis gear 833 is mounted on the Z-axis mounting plate 831; the Z-axis motor 832 drives the Z-axis mounting 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. An automated biological specimen library 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 handling mechanism (3) for transporting the tray mechanism (2);

An automatic handling station (5) for temporary storage of test tube boxes (21);

a selecting mechanism (4) which is mounted on the carrying mechanism (3) and is used for pulling out the tray (23) from the storage mechanism (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 cassette (21) on the automatic processing table (5);

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) mounted on the cabinet door mechanism (12);

A locking mechanism (13) for maintaining the sealing door (14) in locking relationship with the door mechanism (12);

A handle (22) is arranged at the bottom of the tray (23);

The cabinet door mechanism (12) comprises a plurality of cabinet door frames (121), a storage unit is formed by adjacent cabinet door frames (121), 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 arranged 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 are used for realizing up-and-down movement of the sealing door (14);

A motor layer is arranged at the top of each storage unit, and a sealing plate (122) for connecting adjacent cabinet door frames (121) is arranged on the motor layer; the movable floor is not provided with sealing doors (14), when the sealing door (14) of a certain floor moves upwards, all sealing doors (14) above the certain floor are driven to move upwards, the position of the movable floor is occupied, and the door mechanism of the floor is opened;

A sealing strip (142) is arranged at the contact part between 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 cross sections are respectively arranged on the bottom surface and the side surface of the cuboid structure, and labyrinth grooves (1212) matched with the L-shaped sealing strips (142) are formed in the cabinet door frame (121); the sealing door (14) comprises a door plate (141), and a first door opening mechanism (143) for other mechanisms to drive the sealing door (14) to lift is arranged at the front end of the door plate (141); a guard plate (144) 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) includes:

A locking pressing plate (131) which is arranged on the outer side of the sealing door (14) and plays a role in pressing the sealing door (14); eccentric mechanisms (136) 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 the 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 compress 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).

2. An automated biological specimen library according to claim 1, wherein,

The carrying mechanism (3) comprises:

a ground track (31), wherein a ground track sliding rail (311) is arranged on the ground track (31);

the main frame (32), the main frame (32) is connected to the ground track sliding rail (311) through the 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);

a lifting seat (33), wherein a lifting seat sliding block (331) is arranged on the lifting seat (33);

the lifting seat (33) is connected with the main frame rail (321) through a lifting seat sliding block (331) and can slide up and down along the main frame rail (321);

A counterweight mechanism (35) is arranged on the main frame (32), and the counterweight mechanism (35) comprises a counterweight guide rail (351) arranged on the main frame (32) and a counterweight block (352) arranged on the counterweight guide rail (351) and capable of sliding up and down along the counterweight guide rail (351);

a main frame pulley (322) and a steel wire rope (353) are arranged 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 arranged 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 connected with a ground track rack (312) in a meshed manner, and the main frame motor (371) drives the main frame (32) to slide along the ground track slide rail (311);

a lifting seat driving mechanism (34) and a lifting seat transmission mechanism (36) 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), lifting seat gears (363) are connected to two ends of the lifting seat rotating shaft (362), 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 a lifting seat driving gear (343) through a lifting seat driving synchronous belt (342), and the output power of the lifting seat motor (341) is transmitted to a lifting seat rotating shaft (362) to drive the lifting seat (33) to lift along the main frame rail (321);

A counter weight bottom plate (356) is arranged on the counter weight guide rail (351), a plurality of counter weights (352) are carried on the counter weight bottom plate (356), U-shaped holes are formed in the counter weights (352), and the counter weight guide rail (351) is arranged in the U-shaped holes; the balancing weight (352) is provided with a through hole, a balancing weight inserting strip (354) is arranged in the through hole, the bottom of the balancing weight inserting strip (354) penetrates through the balancing weight bottom plate (356) and is provided with an inserting strip limit (357), and the balancing weight (352) is limited; the cutting hanging lugs (355) are arranged at the ends of the balancing weight cutting (354), lifting seat hanging lugs (333) are arranged at the ends of the lifting seat (33), and the cutting hanging lugs (355) and the lifting seat hanging lugs (333) are respectively connected with the two ends of the steel wire rope (353).

3. An automated biological specimen library according to claim 1, wherein,

The selection mechanism (4) comprises:

a second 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);

A pushing mechanism (45) for pushing the test tube cassette (21) in the pull-out tray (23) toward the automatic processing table (5);

the second door opening mechanism (43) includes:

The lifting support (431) is arranged on a lifting arm sliding rail (4311), a lifting arm motor (432) and a ball screw (433) on the lifting support (431); the output end of the arm lifting motor (432) is connected with an arm lifting first belt wheel (437), the end part of the ball screw (433) is connected with an arm lifting second belt wheel (438), and the arm lifting first belt wheel (437) is connected with the arm lifting second belt wheel (438) through a synchronous belt; the ball screw (433) is connected with an arm lifting sliding block (434), and the arm lifting motor (432) drives the ball screw (433) to rotate so as to realize the lifting of the arm lifting sliding block (434);

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) at the same time; a swing arm (435) is arranged on the lifting arm connecting seat (436), and a ram (4353) for lifting the sealing door to open the door is arranged at the front end of the swing arm (435);

The lifting arm connecting seat (436) is also 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 position, corresponding to the rear end of the swing arm (435), of the lifting arm connecting seat (436), and the swing arm (435) is controlled to rotate through the electromagnet (439);

the second door opening mechanism (43), the pulling disc mechanism (44) and the box pushing mechanism (45) are arranged on the girder erecting mechanism, and the girder erecting mechanism comprises:

a lower layer frame beam (46) provided with a lower layer cross beam (461) and a lower layer longitudinal beam (462);

A pair of door-type frame beams (47) mounted on the lower-layer frame beams (46);

A middle layer frame beam (48) installed between the pair of door frame beams (47), wherein the middle layer frame beam (48) comprises a middle layer lower beam (481) and a middle layer upper beam (482);

A high-rise girder (49) mounted on the middle-rise girder (48), the high-rise girder (49) comprising a high-rise first girder (491) mounted on the middle-rise girder (481) and a high-rise second girder (492) mounted on the middle-rise girder (482);

The pull-disc mechanism (44) includes:

Mounting plates (442) each having both ends fixed to the pair of door-type frame beams (47);

a tray feeding slide rail (448) disposed above the mounting plate (442);

A tray feeding slider 4481 mounted on the tray feeding rail 448 and slidable along the tray feeding rail 448;

A tray loading frame (444) fixedly connected to the tray feeding slider (4481);

A tray feeding drive device (447) connected to the tray loading rack (444);

the tray feeding drive device (447) includes:

A tray feeding rack (4473) fixedly connected to the tray loading rack (444);

A tray feeding connection plate (4474) provided on the side of the mounting plate (442);

a tray feeding motor 4471 mounted on the tray feeding connection plate 4474;

A tray feeding gear 4472 connected to the tray feeding motor 4471 and meshed with the tray feeding rack 4473;

a linear slide (445) disposed below the mounting plate (442);

A slidable slide bar arranged in the linear slide rail (445);

a retractor assembly (441) coupled to the slider;

A pulling disc power mechanism (443) connected with the pulling hook assembly (441);

The drag hook assembly (441) comprises a drag hook disc (4411), a drag hook (4412) is arranged on the drag hook disc (4411), and the drag hook (4412) is connected with a drag 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), wherein the first drag hook gear (4414) is connected to 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 pulling disc power mechanism (443) comprises a pulling disc motor (4431) and two pulling disc belt wheels (4432) fixed on a lower-layer beam (461), the pulling disc motor (4431) is connected to the pulling disc belt wheels (4432) through a transmission shaft, a pulling disc synchronous belt (4433) is arranged between the two pulling disc belt wheels (4432), the bottom of a pulling disc (4411) is fixedly connected to the pulling disc synchronous belt (4433), and the pulling disc motor (4431) drives the pulling disc synchronous belt (4433) to rotate so as to drive the pulling disc (4411) to slide along a linear sliding rail (445);

The box pushing mechanism (45) comprises a box pushing carrying plate (451) arranged on a high-rise first frame beam (491) and a high-rise second frame beam (492), a first box pushing sliding rail (452) is arranged on the box pushing carrying plate (451), and a box pushing supporting beam (453) capable of sliding along the first box pushing sliding rail (452) is arranged on the first box pushing sliding 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 pushing box joist (453) is fixedly connected to the pushing box synchronous belt (456) through a joist connecting plate (4534), and the pushing box synchronous belt (456) and the pushing box joist (453) are driven to move by a pushing box second motor (455);

A second pushing box sliding rail (4531) is vertically arranged on the pushing box joist (453), a pushing box rack (4532) is connected to the second pushing box sliding rail (4531) in a sliding manner, and a pushing plate (4533) is arranged on the pushing box rack (4532); the lifting driving mechanism of the pushing plate (4533) is further arranged on the pushing box joist (453), the driving mechanism comprises a pushing box first motor (4541) and a pushing box gear (4542) connected with the pushing box first motor (4541), the pushing box gear (4542) is meshed with the pushing box rack (4532), and the pushing box first motor (4541) drives the pushing box rack (4532) and the pushing plate (4533) to lift.

4. An automated biological specimen library according to claim 1, wherein,

The transfer device (8) comprises:

a transfer support (84) and an X-axis track (81) mounted on the transfer support (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 mounting board (831) mounted on the Z-axis rail (83) and slidable along the Z-axis rail (83);

An automatic processing table (5) arranged on the travel of the Y-axis track (82);

an X-axis rack (811) is arranged on the X-axis track (81), an X-axis motor (812) is correspondingly arranged 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);

The Y-axis track (82) is provided with a Z-axis track (83) which can slide along the Y-axis track (82), the Z-axis track (83) is provided with a Y-axis motor (823), 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 arranged 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 engaged with the Z-axis gear 833 is mounted on the Z-axis mounting plate 831; the Z-axis motor (832) drives the Z-axis carrying plate (831) to slide along the Z-axis track (83).

5. An automated biological specimen library according to claim 4, wherein,

A manipulator (7) is arranged on the Z-axis carrying board (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 clamping action, and a manipulator transmission mechanism (76);

the manipulator arm (74) comprises a first manipulator arm (741) and a second manipulator arm (742);

the manipulator transmission mechanism (76) comprises a first manipulator rack (761), a second manipulator rack (762) and a driving 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 respectively and fixedly connected with the first manipulator rack (761) and the second manipulator rack (762);

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 manipulator arm (741) is connected with the first manipulator rack (761) through a first limiting block (751), the second manipulator arm (742) is connected with the second manipulator rack (762) through a second limiting block (752), and the first limiting block (751) and the second limiting block (752) play a limiting role on the first manipulator arm (741) and the second manipulator arm (742) so as to avoid contact collision;

The outer sides of the first manipulator rack (761) and the second manipulator rack (762) are provided with a packaging shell (72), a manipulator slide rail (73) is arranged in 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 connected into the first manipulator slide rail (731) and the second manipulator slide rail (732) through sliding bars respectively.

6. An automated biological specimen library according to claim 1, wherein: the automatic processing table (5) is provided with a table top (51), the table top (51) is provided with a temporary storage area (55) for temporarily storing biological sample reagent boxes, a docking area (54) for docking with the selection mechanism (4), and a scanning area (52) for scanning and recording information on different biological sample test tubes; the automatic processing table (5) is also provided with a manual processing table (6) opposite to the automatic processing table for carrying biological samples for manual processing operation.