CN115445689A

CN115445689A - Following type freezing storage pipe transfer module and method

Info

Publication number: CN115445689A
Application number: CN202211174359.1A
Authority: CN
Inventors: 崔争第; 张南; 王超良; 黄颖; 周明强; 杨文萍
Original assignee: Zhongke Meiling Cryogenics Co Ltd
Current assignee: Zhongke Meiling Cryogenics Co Ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-12-09
Anticipated expiration: 2042-09-26
Also published as: CN115445689B

Abstract

The embodiment of the invention provides a following type cryopreservation tube transfer module and a following type cryopreservation tube transfer method, and relates to the field of sample access of a biological sample library. The problem that the efficiency of transferring the freezing storage pipe from the target freezing storage box to the empty freezing storage box is low is solved. The following type is freezed and is deposited pipe transfer module is including choosing a pipe platform, first spacing chuck, first actuating mechanism, the spacing chuck of second, second actuating mechanism and getting a tub mechanism, and second actuating mechanism is used for driving the in-process that the spacing chuck of second moved to first spacing chuck top at first actuating mechanism, and the drive is got tub mechanism and is moved to the spacing chuck top of second to make get the interior empty of freezing of depositing on the spacing chuck of second of the whole row of freezing of getting that tub mechanism will press from both sides and insert. The following type cryopreservation tube transfer method is implemented by adopting the module. After the pipe taking mechanism finishes pipe taking, the pipe taking mechanism moves to an empty pipe position on the empty freezing storage box, the first driving mechanism can drive the empty freezing storage box to move to the pipe taking mechanism, the two-way movement is achieved, and the transfer efficiency of the freezing storage pipe is improved.

Description

Following type freezing storage pipe transfer module and method

Technical Field

The invention relates to the field of sample access of a biological sample library, in particular to a following type cryopreservation tube transfer module and a method.

Background

The biological sample storehouse is also called biological bank, is a storehouse which can store samples in a low-temperature storage bin in a classified manner and can be automatically and intelligently stored, the main automatic equipment storing and taking equipment is sample transfer equipment, the sample transfer equipment consists of a freezing frame transfer module, a freezing box transfer module and a freezing tube transfer module, and the freezing tube transfer module can realize the extraction and transfer of freezing tubes in a target freezing box or an empty freezing box.

The existing tube picking and transferring process is that a freezing and storing tube transferring module picks a target freezing and storing tube in a target freezing and storing box, then the target freezing and storing tube is transferred to the upper part of the empty freezing and storing box, finally the picked freezing and storing tube is placed in an empty tube position in the empty freezing and storing box, then the next target freezing and storing tube is continuously picked above the target freezing and storing box until the freezing and storing tube to be taken out is completely picked, but the transferring efficiency of the freezing and storing tube transferring module is lower, the transferring time of a far position is long, and therefore when the freezing and storing tube transferring module picks a large number of freezing and storing tubes, the efficiency can be very low.

Disclosure of Invention

Objects of the present invention include, for example, providing a follower-type vial transfer module that can improve the problem of inefficient transfer of vials from a target vial to an empty vial.

The invention also aims to provide a following type cryopreservation tube transferring method which can solve the problem that the efficiency of transferring the cryopreservation tubes from the target cryopreservation boxes to the empty cryopreservation boxes is low.

Embodiments of the invention may be implemented as follows:

the embodiment of the invention provides a following type cryopreservation tube transfer module which comprises a tube picking platform, a first limiting chuck, a first driving mechanism, a second limiting chuck, a second driving mechanism and a tube taking mechanism, wherein the tube picking platform is arranged on the bottom of the tube picking platform;

the first limiting chuck is fixed on the pipe picking platform and used for positioning and placing a target freezing box, and the target freezing box is used for placing a plurality of freezing pipes; the second limiting chuck is movably arranged on the pipe picking platform along a preset direction, the second limiting chuck is located above the first limiting chuck in the height direction, the first driving mechanism is connected with the second limiting chuck, the first driving mechanism is used for driving the second limiting chuck to move to the position above the first limiting chuck along the preset direction, and the second limiting chuck is used for placing an empty freezing box; second actuating mechanism sets up on choosing the pipe platform, it sets up to get a tub mechanism on the second actuating mechanism, just it is located in the direction of height to get a tub mechanism the top of the spacing chuck of second, second actuating mechanism is used for the drive it removes to get a tub mechanism the top of first spacing chuck, so that it can press from both sides the whole row of freezing of getting a tub mechanism simultaneously and deposit the pipe, perhaps second actuating mechanism is used for first actuating mechanism drives the spacing chuck of second removes the in-process of first spacing chuck top, drive it removes to get a tub mechanism the spacing chuck top of second, so that it will press from both sides the whole row of getting a tub mechanism the freezing of getting the pipe inserts on the spacing chuck of second in the box is frozen to the sky.

In addition, the following cryopreservation tube transfer module provided by the embodiment of the invention can also have the following additional technical characteristics:

optionally, the following cryopreservation tube transfer module further comprises a support frame and a moving frame; the support frame is fixed on the pipe picking platform, the moving frame and the first driving mechanism are arranged on the support frame, the second limiting chuck is fixed on the moving frame, the first driving mechanism is connected with the moving frame, and the first driving mechanism is used for driving the moving frame to drive the second limiting chuck to move to the position above the first limiting chuck along the preset direction;

the second driving mechanism is arranged on the supporting frame, and the second driving mechanism is located above the first driving mechanism and the moving frame in the height direction.

Optionally, the second driving mechanism includes an X-axis moving module, a Y-axis moving module, and an electric telescopic cylinder; the X-axis moving module is arranged on the supporting frame, the Y-axis moving module is arranged on the X-axis moving module, the electric telescopic cylinder is arranged on the Y-axis moving module, the tube taking mechanism is arranged on the electric telescopic cylinder, the X-axis moving module is used for driving the tube taking mechanism to move along the X direction, the Y-axis moving module is used for driving the tube taking mechanism to move along the Y direction, and the electric telescopic cylinder is used for driving the tube taking mechanism to move along the Z direction.

Optionally, the pipe taking mechanism comprises a fixed frame and a plurality of electromagnetic chucks arranged on the fixed frame side by side at intervals, and the fixed frame is fixed on the second driving mechanism; the plurality of electromagnetic chucks can correspond to the whole row of the freezing pipes in the target freezing box one by one; each electromagnetic chuck comprises a sleeve shell, a first electromagnet, at least one inner clamping block and at least one outer clamping block, the first electromagnet is fixed in the sleeve shell, the inner clamping block and the outer clamping block are respectively arranged on the sleeve shell in a sliding mode, the at least one inner clamping block and the at least one outer clamping block are distributed along the circumferential direction of the sleeve shell, and the magnetism of the inner clamping block is opposite to that of the outer clamping block; the inner clamping block is used for having a moving trend of being far away from the center of the sleeve shell under the condition that the first electromagnet is electrified so as to abut against the inner wall of the pipe cover of the freezing pipe, and the outer clamping block is used for having a moving trend of being close to the center of the sleeve shell under the condition that the first electromagnet is electrified so as to abut against the outer wall of the pipe cover of the freezing pipe and clamp the freezing pipe together.

Optionally, the number of the inner clamping blocks is two, and the two inner clamping blocks are symmetrically arranged relative to the center of the sleeve shell; the number of the outer clamping blocks is two, and the two outer clamping blocks are symmetrically arranged relative to the center of the sleeve shell; and one outer clamping block is arranged between two adjacent inner clamping blocks.

Optionally, the side wall of the sleeve shell is provided with a plurality of mounting grooves; the outer clamping block comprises a first magnet block, a first connecting rod and a first friction block; first magnet piece with first clutch blocks passes through first connecting rod is connected, first connecting rod is followed sleeve shell's radial slidable ground sets up in the mounting groove, first magnet piece is located sleeve shell's inside, first clutch blocks is located sleeve shell's outside, first magnet piece is used for having under the circumstances of first electro-magnet circular telegram and is done near sleeve shell's center removes's motion trend, first clutch blocks is used for right under first magnet piece's the drive the outer wall of the tube cap of cryopreserving the pipe supports and holds.

Optionally, the first electromagnet is cylindrical; the first magnet block and the first friction block are arc-shaped blocks, and the radian of the first magnet block is matched with that of the first electromagnet.

Optionally, each electromagnetic chuck further comprises a second electromagnet, a cylinder, a magnetic piston, and a spring; the cylinder barrel is fixed on the fixing frame, the second electromagnet is fixed between the fixing frame and the cylinder barrel, the magnetic piston is slidably arranged in the cylinder barrel, and a spring is arranged between the magnetic piston and the cylinder barrel; the sleeve shell is connected with the magnetic piston; the magnetic piston is used for driving the sleeve shell to overcome the elastic acting force of the spring to move downwards under the condition that the second electromagnet is electrified, or the magnetic piston is used for driving the sleeve shell to reset under the action of the restoring force of the spring under the condition that the second electromagnet is powered off.

Optionally, each electromagnetic chuck further comprises a piston rod, the magnetic piston is connected with the sleeve shell through the piston rod, the piston rod and the magnetic piston are slidably arranged in the cylinder, and the spring is sleeved between the piston rod and the cylinder.

The embodiment of the invention also provides a following type cryopreservation tube transfer method. Adopt the following formula to freeze and deposit pipe transfer module and carry out the implementation, include the following step:

the second driving mechanism drives the pipe taking mechanism to move above the first limiting chuck, and the pipe taking mechanism clamps the freezing pipes on the target freezing box on the first limiting chuck;

the pipe taking mechanism is driven by the second driving mechanism to move towards the upper part of the second limiting chuck; simultaneously through first actuating mechanism drive the spacing chuck of second to get the below of tub mechanism and remove, until it is located to get tub mechanism the top of the spacing chuck of second, through it will press from both sides to get tub mechanism and get the clamp the freezing pipe inserts the spacing chuck of second in the empty freezing box of depositing.

The following type cryopreservation pipe transfer module and the method provided by the embodiment of the invention have the beneficial effects that:

the following type frozen pipe transfer module comprises a pipe picking platform, a first limiting chuck, a first driving mechanism, a second limiting chuck, a second driving mechanism and a pipe taking mechanism; the first limiting chuck is fixed on the pipe picking platform and used for positioning and placing a target freezing box, and the target freezing box is used for placing a plurality of freezing pipes; the second limiting chuck is movably arranged on the pipe picking platform along the preset direction, the second limiting chuck is located above the first limiting chuck in the height direction, the first driving mechanism is connected with the second limiting chuck, the first driving mechanism is used for driving the second limiting chuck to move to the position above the first limiting chuck along the preset direction, and the second limiting chuck is used for placing the empty freezing storage box; the second actuating mechanism sets up on choosing a tub platform, get a tub mechanism setting on second actuating mechanism, and get the top that tub mechanism is located the spacing chuck of second in the direction of height, second actuating mechanism is used for driving and gets the top that tub mechanism removed first spacing chuck, so that it can press from both sides the frozen pipe of whole row simultaneously to get tub mechanism, perhaps second actuating mechanism is used for driving the in-process that the spacing chuck of second moved first spacing chuck top at first actuating mechanism, the drive is got tub mechanism and is moved to the spacing chuck of second top, so that it freezes the pipe with the whole row of getting of clamp and inserts in the empty frozen box on the spacing chuck of second to get tub mechanism.

The tube taking mechanism is driven by the second driving mechanism to move above the first limiting chuck, and the freezing tubes on the target freezing box on the first limiting chuck are clamped by the tube taking mechanism; the pipe taking mechanism is driven by the second driving mechanism to move towards the upper part of the second limiting chuck; meanwhile, the second limiting chuck is driven by the first driving mechanism to move below the tube taking mechanism until the tube taking mechanism is located above the second limiting chuck, and the clamped freezing tube is inserted into an empty freezing box of the second limiting chuck through the tube taking mechanism. After the pipe taking mechanism finishes pipe taking, the pipe taking mechanism moves to the empty pipe position on the empty freezing storage box, the first driving mechanism can drive the empty freezing storage box to move to the pipe taking mechanism, the two-way movement is achieved, the time for transferring the pipe taking mechanism to the empty freezing storage box after taking the pipe is greatly reduced, and the transfer efficiency of the freezing storage pipe is improved.

The following type cryopreserved pipe transfer method is implemented by adopting the following type cryopreserved pipe transfer module, and the problem that the efficiency of transferring a cryopreserved pipe from a target cryopreserved box to an empty cryopreserved box is low can be solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of an overall structure of a following-type cryopreservation tube transfer module according to an embodiment of the present invention;

FIG. 2 is a schematic view of a tube-taking state of the following type freezing storage tube transfer module according to an embodiment of the present invention;

FIG. 3 is a front view of a follower type cryopreserved pipe transfer module according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a cryopreservation tube in the following cryopreservation tube transfer module according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a tube taking mechanism of the following type cryopreserving tube transfer module according to the embodiment of the present invention;

fig. 6 is a schematic half-section view of a structure of an electromagnetic chuck in the following type cryopreservation tube transfer module according to the embodiment of the present invention;

fig. 7 is a schematic partial structural view of an electromagnetic chuck in the following cryopreservation tube transfer module according to the embodiment of the invention;

fig. 8 is a schematic view of an initial state of the follower-type vial transfer module according to the embodiment of the present invention;

fig. 9 is a schematic view of a tube placing state of the following type cryopreserving tube transferring module according to the embodiment of the present invention.

An icon: 1-target cryopreservation box; 2-empty freezing and storing the box; 3-freezing and storing the tube; 31-a tube body; 32-a tube cover; 33-notches; 100-pipe picking platform; 110-a first spacing chuck; 200-a support frame; 210-a first support; 220-a second bracket; 230-a third support; 300-a mobile rack; 310-a guide rail; 320-fixed connecting plate; 330-a second limit chuck; 340-a first rack; 350-driving a motor; a 400-X axis moving module; 410-X axis guide rails; 420-Y axis guide rails; 430-X axis drive motor; 440-a lead screw; 500-Y axis moving module; 510-a carriage; 520-a second rack; 530-Y axis drive motor; 600-an electric telescopic cylinder; 700-pipe taking mechanism; 710-a mount; 720-cylinder; 730-a second electromagnet; 740-an electromagnetic chuck; 741-a cartridge housing; 742-an outer clamp block; 7421-a first magnet block; 7422-first friction block; 7423-a first link; 743-inner clamp block; 744-a first electromagnet; 745-a piston rod; 746-magnetic piston; 750-spring.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The following cryopreservation tube transfer module provided in this embodiment is described in detail below with reference to fig. 1 to 9.

Referring to fig. 1 and 2, an embodiment of the invention provides a following type cryopreserved pipe transfer module, which includes a pipe picking platform 100, a first limit chuck 110, a first driving mechanism, a second limit chuck 330, a second driving mechanism, and a pipe taking mechanism 700; the first limiting chuck 110 is fixed on the pipe picking platform 100, the first limiting chuck 110 is used for positioning and placing the target freezing storage box 1, and the target freezing storage box 1 is used for placing a plurality of freezing storage pipes 3; the second limiting chuck 330 is movably arranged on the pipe picking platform 100 along a preset direction, the second limiting chuck 330 is positioned above the first limiting chuck 110 in the height direction, the first driving mechanism is connected with the second limiting chuck 330, the first driving mechanism is used for driving the second limiting chuck 330 to move above the first limiting chuck 110 along the preset direction, and the second limiting chuck 330 is used for placing the empty freezing and storing box 2; the second driving mechanism is arranged on the tube picking platform 100, the tube taking mechanism 700 is arranged on the second driving mechanism, the tube taking mechanism 700 is located above the second limiting chuck 330 in the height direction, the second driving mechanism is used for driving the tube taking mechanism 700 to move to the position above the first limiting chuck 110, so that the tube taking mechanism 700 can simultaneously clamp a whole row of frozen tubes 3, or the second driving mechanism is used for driving the second limiting chuck 330 to move to the position above the first limiting chuck 110 in the process of driving the first driving mechanism to drive the tube taking mechanism 700 to move to the position above the second limiting chuck 330, so that the tube taking mechanism 700 inserts the whole row of frozen tubes 3 clamped by the tube taking mechanism into the empty frozen boxes 2 on the second limiting chuck 330.

Choose fixed mounting to have first spacing chuck 110 on the pipe platform 100, first spacing chuck 110 is used for the fixed target of placing of freezing and deposits box 1, places the freezing of waiting to get on the target freezing and deposits box 1 and deposits the pipe 3. The empty cryopreservation box 2 is used for placing the cryopreservation tube 3 removed from the target cryopreservation box 1. Referring to fig. 4, the cryopreservation tube 3 includes a tube body 31, a tube cap 32 and a notch 33, wherein the tube cap 32 is screwed on the tube body 31, the upper end of the tube cap 32 is provided with the notch 33, and the inner surface of the notch 33 is a rough surface.

The second driving mechanism drives the tube taking mechanism 700 to move above the first limiting chuck 110, and the tube taking mechanism 700 clamps the freezing tube 3 on the target freezing box 1 on the first limiting chuck 110; the second driving mechanism drives the pipe taking mechanism 700 to move towards the upper part of the second limit chuck 330; meanwhile, the first driving mechanism drives the second limiting chuck 330 to move towards the lower part of the tube taking mechanism 700 until the tube taking mechanism 700 is located above the second limiting chuck 330, and the clamped freezing tube 3 is inserted into the empty freezing box 2 of the second limiting chuck 330 through the tube taking mechanism 700.

After the tube taking mechanism 700 takes the frozen tube 3, the tube taking mechanism 700 and the second limiting chuck 330 move towards each other at the same time, so that the taken frozen tube 3 is placed in the empty frozen box 2 of the second limiting chuck 330. Two-way removal, great reduction get the time that pipe mechanism 700 got to shift to empty cryopreserving box 2 after getting the pipe, improved the transfer efficiency who cryopreserved pipe 3.

Referring to fig. 2 and 3, in the present embodiment, the following-type cryopreservation tube transferring module further includes a supporting frame 200 and a moving frame 300; the support frame 200 is fixed on the pipe picking platform 100, the moving frame 300 and the first driving mechanism are both arranged on the support frame 200, the second limiting chuck 330 is fixed on the moving frame 300, the first driving mechanism is connected with the moving frame 300, and the first driving mechanism is used for driving the moving frame 300 to drive the second limiting chuck 330 to move to the position above the first limiting chuck 110 along the preset direction; the second driving mechanism is disposed on the supporting frame 200, and the second driving mechanism is located above the first driving mechanism and the moving frame 300 in the height direction.

The supporting frame 200 includes a first support 210, a second support 220 and a third support 230, wherein the second support 220 is fixed in the middle of the tube picking platform 100, the first support 210 and the third support 230 are symmetrically arranged at two ends of the tube picking platform 100 relative to the second support 220, and the moving frame 300 is movably mounted on the first support 210 and the second support 220.

The first driving mechanism includes a first rack 340 and a driving motor 350; the moving frame 300 includes a guide rail 310 and a fixing link plate 320; the number of the guide rails 310 is two, the two guide rails 310 are movably mounted on the first support 210 and the second support 220, the two guide rails 310 are connected through a plurality of fixed connecting plates 320, the fixed connecting plates 320 are used for fixing the two guide rails 310, a second limiting chuck 330 is fixedly mounted at one end of each guide rail 310, the second limiting chuck 330 and the first limiting chuck 110 are of the same structure, and the second limiting chuck 330 is used for fixedly placing the empty cryopreservation box 2. A first rack gear 340 is fixedly mounted on one of the two guide rails 310, and a driving motor 350 engaged with the first rack gear 340 and capable of driving the first rack gear 340 to move is mounted on the first bracket 210.

Referring to fig. 1, 2 and 3, in the present embodiment, the second driving mechanism includes an X-axis moving module 400, a Y-axis moving module 500 and an electric telescopic cylinder 600; the X-axis moving module 400 is arranged on the support frame 200, the Y-axis moving module 500 is arranged on the X-axis moving module 400, the electric telescopic cylinder 600 is arranged on the Y-axis moving module 500, the tube taking mechanism 700 is arranged on the electric telescopic cylinder 600, the X-axis moving module 400 is used for driving the tube taking mechanism 700 to move along the X direction, the Y-axis moving module 500 is used for driving the tube taking mechanism 700 to move along the Y direction, and the electric telescopic cylinder 600 is used for driving the tube taking mechanism 700 to move along the Z direction.

Specifically, the X-axis moving module 400 is fixedly mounted at the upper end of the supporting frame 200, the X-axis moving module 400 includes two X-axis guide rails 410, two Y-axis guide rails 420, two X-axis driving motors 430 and a lead screw 440, the two X-axis guide rails 410 are mounted on the second bracket 220 and the third bracket 230 side by side at intervals, the Y-axis guide rails 420 are movably mounted on the two X-axis guide rails 410, and the X-axis driving motors 430 are fixedly mounted at the ends of the X-axis guide rails 410. A lead screw 440 is rotatably mounted on the X-axis guide rail 410 on the same side as the X-axis driving motor 430, one end of the lead screw 440 can be in power connection with the X-axis driving motor 430, and the lead screw 440 is in threaded connection with the Y-axis guide rail 420, so that when the X-axis driving motor 430 rotates, the Y-axis guide rail 420 can move along the X-axis guide rail 410 through the threaded connection between the lead screw 440 and the Y-axis guide rail 420.

The Y-axis moving module 500 is movably mounted on the Y-axis guide rail 420, the Y-axis moving module 500 includes a carriage 510, a second rack 520, and a Y-axis driving motor 530, wherein the carriage 510 is a hollow frame structure, the carriage 510 is sleeved on the Y-axis guide rail 420, the second rack 520 is fixedly mounted at a side end of the Y-axis guide rail 420 through the carriage 510, the Y-axis driving motor 530 is fixedly mounted at one side portion of the carriage 510, a gear at a distal end of the Y-axis driving motor 530 can be engaged with the second rack 520 and enables the carriage 510 to move along the Y-axis guide rail 420, and an electric telescopic cylinder 600 is also fixedly mounted at the other side portion of the carriage 510.

Referring to fig. 5 and fig. 6, in the present embodiment, the tube taking mechanism 700 includes a fixing frame 710 and a plurality of electromagnetic chucks 740 arranged on the fixing frame 710 side by side at intervals, wherein the fixing frame 710 is fixed on the second driving mechanism; the plurality of electromagnetic chucks 740 can correspond to the whole row of the cryopreservation tubes 3 in the target cryopreservation box 1 one by one; each electromagnetic chuck 740 comprises a sleeve shell 741, a first electromagnet 744, at least one inner clamping block 743 and at least one outer clamping block 742, wherein the first electromagnet 744 is fixed in the sleeve shell 741, the inner clamping block 743 and the outer clamping block 742 are respectively slidably arranged on the sleeve shell 741, the at least one inner clamping block 743 and the at least one outer clamping block 742 are distributed along the circumferential direction of the sleeve shell 741, and the magnetism of the inner clamping block 743 is opposite to that of the outer clamping block 742; the inner clamp 743 is used for having a moving trend of moving away from the center of the sleeve shell 741 to support the inner wall of the tube cover 32 of the freezing tube 3 when the first electromagnet 744 is electrified, and the outer clamp 742 is used for having a moving trend of moving close to the center of the sleeve shell 741 to support the outer wall of the tube cover 32 of the freezing tube 3 to clamp the freezing tube 3 together when the first electromagnet 744 is electrified.

Specifically, the tube taking mechanism 700 is fixedly installed at the end of the telescopic shaft in the electric telescopic cylinder 600.

Wherein the sleeve shell 741 is a cylindrical structure with an open upper end, the first electromagnet 744 is electrified to generate magnetic force, the first magnet blocks 7421 on the two outer clamping blocks 742 will drive the outer clamping blocks 742 to move inwards under the magnetic attraction of the first electromagnet 744, the second magnet blocks on the two inner clamping blocks 743 will drive the inner clamping blocks 743 to move outwards under the magnetic repulsion of the first electromagnet 744, thus the first friction blocks 7422 at the outer end of the outer clamping blocks 742 will block the outer wall of the upper tube cover 32 of the freezing tube 3, and the second friction blocks at the outer end of the inner clamping blocks 743 will block the notches 33 in the upper tube cover 32 of the freezing tube 3, so that the electromagnetic chuck 740 is fixedly connected with the freezing tube 3, and the electromagnetic chuck 740 can take the freezing tube 3 out of the target freezing box 1.

Referring to fig. 7, in this embodiment, the number of the inner clamp blocks 743 is two, and the two inner clamp blocks 743 are symmetrically arranged with respect to the center of the sleeve shell 741; the number of the outer clamping blocks 742 is two, and the two outer clamping blocks 742 are symmetrically arranged relative to the center of the sleeve shell 741; an outer clamp 742 is disposed between two adjacent inner clamps 743.

The number of the outer clamping blocks 742 is two, and the two outer clamping blocks 742 are movably and symmetrically installed on the peripheral wall of the sleeve shell 741, the number of the inner clamping blocks 743 is two, the inner clamping blocks 743 and the outer clamping blocks 742 have the same structure, and the two inner clamping blocks 743 are movably and symmetrically installed between the two outer clamping blocks 742.

Referring to fig. 6 and 7, in the present embodiment, a side wall of the sleeve housing 741 is provided with a plurality of mounting grooves; the outer clamp block 742 includes a first magnet block 7421, a first link 7423 and a first friction block 7422; the first magnet block 7421 and the first friction block 7422 are connected through a first connecting rod 7423, the first connecting rod 7423 is slidably disposed in the mounting groove along the radial direction of the sleeve shell 741, the first magnet block 7421 is disposed inside the sleeve shell 741, the first friction block 7422 is disposed outside the sleeve shell 741, the first magnet block 7421 is used for having a movement trend of moving close to the center of the sleeve shell 741 under the condition that the first electromagnet 744 is electrified, and the first friction block 7422 is used for abutting against the outer wall of the tube cover 32 of the cryopreservation tube 3 under the driving of the first magnet block 7421.

The first magnet block 7421 and the first friction block 7422 are fixedly connected through a first connecting rod 7423 at the uppermost end, the first magnet block 7421 is located in the peripheral wall of the sleeve shell 741, the first friction block 7422 is located outside the peripheral wall of the sleeve shell 741, the outer peripheral surface of the first friction block 7422 is provided with a friction rubber pad, the diameter of the first friction block 7422 is larger than that of the outer wall of the upper tube cover 32 of the freezing tube 3, and the outer clamp block 742 can clamp the outer wall of the upper tube cover 32 of the freezing tube 3 through the first friction block 7422.

The inner clamp 743 and the outer clamp 742 are the same structure. Specifically, the inner clamp 743 includes a second magnet, a second link, and a second friction block, and the structure of the inner clamp 743 is the same as that of the outer clamp 742, which is not described again, except that the length of the first link 7423 is longer than that of the first link 7423. However, the diameter of the second friction block on the inner clamp 743 is smaller than the diameter of the notch 33 on the vial 3, the magnetic pole of the second magnet on the inner clamp 743 is opposite to the magnetic pole of the first magnet 7421 on the outer clamp 742, and the inner clamp 743 can clamp the notch 33 in the vial cover 32 on the vial 3 through the second friction block.

Referring to fig. 6 and 7, in the present embodiment, the first electromagnet 744 is cylindrical; the first magnet block 7421 and the first friction block 7422 are both arc-shaped blocks, and the radian of the first magnet block 7421 is matched with the radian of the first electromagnet 744.

Referring to fig. 6 and 7, in the present embodiment, each electromagnetic chuck 740 further includes a second electromagnet 730, a cylinder 720, a magnetic piston 746, and a spring 750; the cylinder 720 is fixed on the fixing frame 710, the second electromagnet 730 is fixed between the fixing frame 710 and the cylinder 720, the magnetic piston 746 is slidably arranged in the cylinder 720, and a spring 750 is arranged between the magnetic piston 746 and the cylinder 720; the sleeve shell 741 is connected to the magnetic piston 746; the magnetic piston 746 is for moving the cartridge housing 741 downward against the elastic force of the spring 750 in case the second electromagnet 730 is energized, or the magnetic piston 746 is for returning the cartridge housing 741 by the restoring force of the spring 750 in case the second electromagnet 730 is de-energized.

The mount 710 material is the hard non-metallic material such as duroplasts, and mount 710 lower extreme fixed mounting has the cylinder 720 of a plurality of sharp equipartitions to the quantity of cylinder 720 and the interval between every cylinder 720 will be with the target freeze and deposit box 1 or empty freeze and deposit box 2 last a row of the quantity of freezing and deposit pipe 3 and the interval corresponding. A corresponding second electromagnet 730 is fixedly arranged above each cylinder 720, when the second electromagnet 730 above one of the cylinders 720 is energized, the second electromagnet 730 generates magnetic force, and then the second electromagnet 730 can drive a magnetic piston 746 in the cylinder 720 below the second electromagnet 730 to move downwards and compress a spring 750 between the cylinder 720 and the electromagnetic chuck 740, when the inner and outer clamping blocks 743 move into the notch 33 on the tube cover 32 of the freezing tube 3 under the action of the electric telescopic cylinder 600, the first electromagnet 744 is energized and generates magnetic force, the first magnet blocks 7421 on the two outer clamping blocks 742 can drive the outer clamping block 742 to move inwards under the magnetic attraction of the first electromagnet 744, the second magnet blocks 743 on the two inner clamping blocks 743 can drive the inner clamping block 743 under the magnetic repulsion of the first electromagnet 744 to move outwards, so that the first friction blocks 7422 at the outer end of the outer clamping block the outer wall of the tube cover 32 on the freezing tube 3, the second friction blocks at the outer end of the inner clamping block 743 can clamp block seize the inner clamping block 743 on the tube 3, and the inner clamping block 3 can fix the inner clamping head 740 and the freezing tube 3 to connect the target freezing tube 740 with the freezing tube 740, so that the target freezing tube 740 can be taken out of the freezing tube 3.

When the second electromagnet 730 is powered off, the magnetic piston 746 in the cylinder 720 below the second electromagnet 730 will be reset upward by the elastic force of the spring 750.

Referring to fig. 6 and 7, in this embodiment, each electromagnetic chuck 740 further includes a piston rod 745, the magnetic piston 746 is connected to the sleeve housing 741 through the piston rod 745, the piston rod 745 and the magnetic piston 746 are slidably disposed in the cylinder 720, and the spring 750 is disposed between the piston rod 745 and the cylinder 720.

A piston rod 745 is fixedly mounted at the upper end of the sleeve housing 741, a magnetic piston 746 is provided at the upper end of the piston rod 745, and the magnetic piston 746 has a magnetic pole opposite to that of the second electromagnet 730.

Referring to fig. 1, fig. 2, fig. 8 and fig. 9, according to the following freezing storage tube transfer module provided in this embodiment, the working principle of the following freezing storage tube transfer module includes:

during the initial state, the electric telescopic cylinder 600 lifts the tube taking mechanism 700, the tube taking mechanism 700 moves to the upper side of the target cryopreservation box 1 under the action of the X-axis moving module 400 and the Y-axis moving module 500, and then the target cryopreservation box 1 and the empty cryopreservation box 2 are sequentially placed on the first limiting chuck 110 and the second limiting chuck 330 by the cryopreservation box transfer module.

Then get a tub mechanism 700 and remove under the common drive effect of X axle removal module 400 and Y axle removal module 500 and wait to take out directly over freezing the pipe 3 on the first row on the box 1 is frozen to the target, and the driving motor 350 on the removal frame 300 rotates simultaneously, drives second spacing chuck 330 through first rack 340 and drives empty freezing box 2 and wait to take out freezing the pipe 3 and move to the first row on the box 1 is frozen to the target, and it stops to wait to take out freezing the pipe 3 interval on the box 2 is frozen to the empty and first row on the box 1 is frozen to the target.

Then the second electromagnet 730 in the corresponding position of the first row of the to-be-taken-out frozen pipe 3 on the target frozen storage box 1 starts to be electrified, after the second electromagnet 730 is electrified, the magnetic piston 746 in the corresponding position drives the sleeve shell 741 in the corresponding position to extend downwards relative to the cylinder 720 under the repulsion action of the second electromagnet 730 and compresses the spring 750 of the cylinder 720, and meanwhile, the electric telescopic cylinder 600 controls the pipe taking mechanism 700 to move downwards integrally until the plurality of inner clamping blocks 743 and outer clamping blocks 742 which extend downwards under the action of the second electromagnet 730 reach the notches 33 in the first row of the to-be-taken-out frozen pipe 3, and the pipe taking mechanism 700 stops moving.

Then the first electromagnet 744 at the corresponding position is electrified and generates magnetic force, the first magnet blocks 7421 on the two outer clamping blocks 742 drive the outer clamping blocks 742 to move inwards under the magnetic attraction effect of the first electromagnet 744, the second magnet blocks on the two inner clamping blocks 743 drive the inner clamping blocks 743 to move outwards under the magnetic repulsion effect of the first electromagnet 744, thus the first friction blocks 7422 at the outer ends of the outer clamping blocks 742 can clamp the outer wall of the upper tube cover 32 of the freezing tube 3, and the second friction blocks at the outer ends of the inner clamping blocks 743 can clamp the notches 33 in the upper tube cover 32 of the freezing tube 3, so that the electromagnetic clamping head 740 is fixedly connected with the freezing tube 3. Then the electric telescopic cylinder 600 controls the tube taking mechanism 700 to move upwards, and the first row of the freezing tubes 3 to be taken out is taken out from the target freezing box 1.

Then the driving motor 350 rotates to drive the empty freezing box 2 to move towards the target freezing box 1 through the moving frame 300 until the empty freezing box 2 and the target freezing box 1 coincide in the vertical direction, and the moving frame 300 stops moving. Meanwhile, the X-axis moving module 400 and the Y-axis moving module 500 control the tube taking mechanism 700 to move to the position above the first row of empty tubes at the rightmost end on the empty freezing and storing box 2, then the electric telescopic cylinder 600 controls the tube taking mechanism 700 to move downwards, and a plurality of tubes to be taken out 3 at the lower end of the tube taking mechanism 700 are placed into the first row of tubes of the empty freezing and storing box 2.

Then the first electromagnet 744 is powered off, the magnetic force is cancelled, the outer clamping block 742 and the inner clamping block 743 cancel clamping of the freeze storage tube 3 to be taken out, the second electromagnet 730 is powered off, the electromagnetic chuck 740 in the cylinder 720 below the second electromagnet 730 is reset upwards under the elastic force of the spring 750, then the electric telescopic cylinder 600 controls the tube taking mechanism 700 to move upwards to move the electromagnetic chuck 740 out of the first row of tube positions on the freeze storage box 2, then the rest of the freeze storage tubes 3 to be taken out are continuously taken out in the same way and are placed in other tube positions on the freeze storage box 2 until all the freeze storage tubes 3 to be taken out are taken out, and then the X-axis moving module 400, the Y-axis moving module 500 and the electric telescopic cylinder 600 control the tube taking mechanism 700 to move back to the initial state.

The following freezing storage pipe transfer module provided by the embodiment at least has the following advantages:

through placing empty freezing box 2 on mobilizable removal frame 300, get a tub back that finishes when the mechanism 700 of getting the pipe, get when tub mechanism 700 removes to empty tube position on the empty freezing box 2, remove frame 300 and also can drive empty freezing box 2 and remove to getting tub mechanism 700, both way around removal, great reduction get the time that the mechanism 700 of getting shifts to empty freezing box 2 after getting the pipe, improved the transfer efficiency who freezes and deposits tub 3.

Through set up a plurality of electromagnetic chuck 740 on getting a tub mechanism 700, and the quantity that the quantity of electromagnetic chuck 740 and every electromagnetic chuck 740 between will freeze to deposit box 1 or empty and deposit box 2 and go up a row of the freezing quantity that deposits pipe 3 corresponding with the interval, and utilize electromagnetic effect to make the electromagnetic chuck 740 that corresponds stretch out downwards and grasp and wait to take out the freezing and deposit pipe 3 that corresponds, make getting a tub mechanism 700 once only can press from both sides and get the freezing of different positions in a plurality of same rows and deposit pipe 3, the efficiency of getting a tub of 3 that freezes is improved greatly.

the tube taking mechanism 700 is driven by the second driving mechanism to move above the first limiting chuck 110, and the freezing tube 3 on the target freezing box 1 on the first limiting chuck 110 is clamped by the tube taking mechanism 700; the pipe taking mechanism 700 is driven by the second driving mechanism to move towards the upper part of the second limiting chuck 330; meanwhile, the second limiting chuck 330 is driven by the first driving mechanism to move towards the lower part of the tube taking mechanism 700 until the tube taking mechanism 700 is positioned above the second limiting chuck 330, and the clamped freezing tube 3 is inserted into the empty freezing box 2 of the second limiting chuck 330 through the tube taking mechanism 700. The problem that the efficiency of transferring the freezing storage tube 3 from the target freezing storage box 1 to the empty freezing storage box 2 is low can be solved.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a follow-type freezes deposits pipe and shifts module which characterized in that includes:

a tube picking platform (100);

the first limiting chuck (110), the first limiting chuck (110) is fixed on the tube picking platform (100), the first limiting chuck (110) is used for positioning and placing a target freezing storage box (1), and the target freezing storage box (1) is used for placing a plurality of freezing storage tubes (3);

the tube picking platform comprises a first driving mechanism and a second limiting chuck (330), wherein the second limiting chuck (330) is movably arranged on the tube picking platform (100) along a preset direction, the second limiting chuck (330) is located above the first limiting chuck (110) in the height direction, the first driving mechanism is connected with the second limiting chuck (330), the first driving mechanism is used for driving the second limiting chuck (330) to move above the first limiting chuck (110) along the preset direction, and the second limiting chuck (330) is used for placing an empty freezing box (2);

second actuating mechanism and get a tub mechanism (700), second actuating mechanism sets up choose on tub platform (100), it sets up to get tub mechanism (700) on the second actuating mechanism, just it is located on the direction of height to get tub mechanism (700) the top of second spacing chuck (330), second actuating mechanism is used for the drive get tub mechanism (700) and remove the top of first spacing chuck (110), so that it can press from both sides the frozen pipe (3) of whole row simultaneously to get tub mechanism (700), perhaps second actuating mechanism is used for first actuating mechanism drive second spacing chuck (330) remove to the in-process of first spacing chuck (110) top, drive it moves to get tub mechanism (700) second spacing chuck (330) top, so that it inserts to get the whole row that tub mechanism (700) will press from both sides the frozen pipe (3) insert on the second spacing chuck (330) in the frozen box (2).

2. The trailing type cryopreserved pipe transfer module of claim 1, wherein:

the following type freezing storage pipe transfer module further comprises a support frame (200) and a moving frame (300); the supporting frame (200) is fixed on the pipe picking platform (100), the moving frame (300) and the first driving mechanism are arranged on the supporting frame (200), the second limiting chuck (330) is fixed on the moving frame (300), the first driving mechanism is connected with the moving frame (300), and the first driving mechanism is used for driving the moving frame (300) to drive the second limiting chuck (330) to move above the first limiting chuck (110) along the preset direction;

the second driving mechanism is arranged on the supporting frame (200), and the second driving mechanism is positioned above the first driving mechanism and the moving frame (300) in the height direction.

3. The trailing type cryopreserved pipe transfer module of claim 2, wherein:

the second driving mechanism comprises an X-axis moving module (400), a Y-axis moving module (500) and an electric telescopic cylinder (600); x axle removes module (400) and sets up on support frame (200), Y axle removes module (500) and sets up on the X axle removes module (400), electronic telescoping cylinder (600) set up on Y axle removes module (500), it sets up to get a tub mechanism (700) on electronic telescoping cylinder (600), X axle removes module (400) and is used for the drive it removes to get tub mechanism (700) along the X direction, Y axle removes module (500) and is used for the drive it removes to get tub mechanism (700) along the Y direction, electronic telescoping cylinder (600) are used for the drive it removes to get tub mechanism (700) along the Z direction.

4. The trailing cryopreserved pipe transfer module of any one of claims 1-3, wherein:

the pipe taking mechanism (700) comprises a fixed frame (710) and a plurality of electromagnetic chucks (740) which are arranged on the fixed frame (710) side by side at intervals, and the fixed frame (710) is fixed on the second driving mechanism; the plurality of electromagnetic chucks (740) can correspond to the whole row of the freezing pipes (3) in the target freezing box (1) one by one; each electromagnetic chuck (740) comprises a sleeve shell (741), a first electromagnet (744), at least one inner clamping block (743) and at least one outer clamping block (742), wherein the first electromagnet (744) is fixed in the sleeve shell (741), the inner clamping block (743) and the outer clamping block (742) are respectively and slidably arranged on the sleeve shell (741), the at least one inner clamping block (743) and the at least one outer clamping block (742) are distributed along the circumferential direction of the sleeve shell (741), and the magnetism of the inner clamping block (743) is opposite to that of the outer clamping block (742); the inner clamping block (743) is used for having a moving trend of moving away from the center of the sleeve shell (741) under the condition that the first electromagnet (744) is electrified so as to abut against the inner wall of the pipe cover (32) of the freezing pipe (3), and the outer clamping block (742) is used for having a moving trend of moving close to the center of the sleeve shell (741) under the condition that the first electromagnet (744) is electrified so as to abut against the outer wall of the pipe cover (32) of the freezing pipe (3) so as to clamp the freezing pipe (3) together.

5. The trailing type cryopreserved pipe transfer module of claim 4, wherein:

the number of the inner clamping blocks (743) is two, and the two inner clamping blocks (743) are symmetrically arranged relative to the center of the sleeve shell (741); the number of the outer clamping blocks (742) is two, and the two outer clamping blocks (742) are symmetrically arranged relative to the center of the sleeve shell (741); one outer clamping block (742) is arranged between two adjacent inner clamping blocks (743).

6. The trailing type cryopreserved pipe transfer module of claim 4, wherein:

the side wall of the sleeve shell (741) is provided with a plurality of mounting grooves;

the outer clamp block (742) comprises a first magnet block (7421), a first connecting rod (7423) and a first friction block (7422); the first magnet block (7421) and the first friction block (7422) are connected through the first connecting rod (7423), the first connecting rod (7423) is slidably arranged in the mounting groove along the radial direction of the sleeve shell (741), the first magnet block (7421) is located inside the sleeve shell (741), the first friction block (7422) is located outside the sleeve shell (741), the first magnet block (7421) is used for moving the sleeve shell (741) close to the center under the condition that the first electromagnet (744) is electrified, and the first friction block (7422) is used for abutting against the outer wall of the tube cover (32) of the freezing tube (3) under the driving of the first magnet block (7421).

7. The trailing type cryopreserved pipe transfer module of claim 6, wherein:

the first electromagnet (744) is cylindrical; the first magnet block (7421) and the first friction block (7422) are arc-shaped blocks, and the radian of the first magnet block (7421) is matched with that of the first electromagnet (744).

8. The trailing type cryopreserved pipe transfer module of claim 4, wherein:

each electromagnetic chuck (740) further comprises a second electromagnet (730), a cylinder (720), a magnetic piston (746), and a spring (750); the cylinder barrel (720) is fixed on the fixed frame (710), the second electromagnet (730) is fixed between the fixed frame (710) and the cylinder barrel (720), the magnetic piston (746) is slidably arranged in the cylinder barrel (720), and a spring (750) is arranged between the magnetic piston (746) and the cylinder barrel (720); the sleeve housing (741) is connected to the magnetic piston (746); the magnetic piston (746) is used for driving the sleeve shell (741) to move downwards against the elastic force of the spring (750) when the second electromagnet (730) is powered on, or the magnetic piston (746) is used for driving the sleeve shell (741) to reset under the restoring force of the spring (750) when the second electromagnet (730) is powered off.

9. The trailing type cryopreserved pipe transfer module of claim 8, wherein:

each electromagnetic chuck (740) further comprises a piston rod (745), the magnetic piston (746) is connected with the sleeve shell (741) through the piston rod (745), the piston rod (745) and the magnetic piston (746) are slidably arranged in the cylinder barrel (720), and the spring (750) is sleeved between the piston rod (745) and the cylinder barrel (720).

10. A following-type cryopreservation tube transfer method implemented by adopting the following-type cryopreservation tube transfer module of any one of claims 1 to 9, and characterized by comprising the following steps of:

the tube taking mechanism (700) is driven by the second driving mechanism to move above the first limiting chuck (110), and the freezing tube (3) on the target freezing box (1) on the first limiting chuck (110) is clamped by the tube taking mechanism (700);

the second driving mechanism drives the pipe taking mechanism (700) to move towards the upper part of the second limit chuck (330); simultaneously through first actuating mechanism drive second limit chuck (330) to get the below of a tub mechanism (700) and remove, until it is located to get tub mechanism (700) the top of second limit chuck (330), through get that tub mechanism (700) will press from both sides and get the pipe (3) of depositing insert the empty of second limit chuck (330) is frozen and is deposited in the box (2).