CN115530156A

CN115530156A - Automatic vitrification refrigerating device for blank

Info

Publication number: CN115530156A
Application number: CN202211336533.8A
Authority: CN
Inventors: 孙海旋; 杨森; 钱俊; 赵振英; 梁伟国; 曾维俊; 王春元; 朱浩然
Original assignee: Suzhou Institute of Biomedical Engineering and Technology of CAS
Current assignee: Suzhou Institute of Biomedical Engineering and Technology of CAS
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2022-12-30

Abstract

The invention discloses an automatic vitrification freezing device for embryos, which comprises: the device comprises a rack, and a rotary worktable module, a consumable area, a vitrification reagent processing module, a transfer module, a heat sealing module and a freezing module which are positioned on the rack; the vitrification reagent processing module, the transfer module and the heat sealing module are distributed along the circumference of the rotation center of the rotary worktable module; when the rotary worktable module drives the consumable area to rotate and transmit, the consumable area respectively moves to the vitrification reagent processing module, the transfer module and the heat sealing module so as to correspondingly perform embryo processing, cover transfer and freezing dish sealing operation, and then the freezing dish is put into the freezing module, thereby realizing the automation of embryo vitrification freezing. The invention has uniform space distribution and reduced volume of the whole machine, and the operation modules are distributed, thereby reducing the influence of the heat generated by the heat-sealing module on other modules and being beneficial to the heat dissipation of the heat-sealing module; can reduce the embryo movement times and effectively reduce the influence of the embryo caused by the impact generated by movement.

Description

Automatic vitrification refrigerating device for blank

Technical Field

The invention relates to the technical field of embryo freezing, in particular to an automatic vitrification freezing device for embryos.

Background

The rapid embryo freezing method comprises programmed freezing and vitrification freezing, and compared with the programmed freezing technology, the vitrification freezing technology has the advantages of simple operation, low cost, high survival rate, high success rate and the like, and is the main freezing mode at present. At present, embryo vitrification freezing is mainly realized by two modes of manual vitrification operation and full-automatic vitrification freezing equipment.

There is currently a fully automated vitrification freezer, genea Biomedx, which has developed an automated instrument for embryo vitrification (U.S. patent application publication No. 2013/0137080). However, the consumable plate inside the instrument is conveyed by adopting the traditional crawler transmission, and the consumable plate needs to move back and forth frequently according to the change of an operation station. This can produce the motion impact to the embryo inside the consumptive material, and the embryo position in the consumptive material also can shift, influences embryo survival rate. In addition, the inside operation module of instrument is concentrated relatively, and the heat-seal module is difficult for dispelling the heat, and works the back when the heat-seal module is long-time, and the high temperature that its produced also can exert an influence to other modules of instrument inside, is unfavorable for the long-term steady operation of instrument, leads to embryo vitrification refrigeration efficiency's reduction.

Therefore, there is a need to provide a new method to solve the above technical problems.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide an automatic blank vitrification refrigerating device which is uniform in spatial distribution, small in overall size, distributed in operation modules, capable of reducing the influence of heat generated by a heat sealing module on other modules and beneficial to heat dissipation of the heat sealing module; can reduce the embryo movement times and effectively reduce the influence of the embryo impact generated by movement.

The technical scheme of the invention is summarized as follows:

an automatic vitrification freezing device for embryo, comprising:

the device comprises a rack, and a rotary workbench module, a consumable area, a vitrification reagent processing module, a transfer module, a heat sealing module and a freezing module which are positioned on the rack; wherein, the first and the second end of the pipe are connected with each other,

the consumable area comprises a freezing dish supporting plate, a cover supporting plate, a sample adding tip hole and a reagent bottle seat; the freezing dish support plate is used for placing a plurality of freezing dishes, the sample adding tip hole is used for placing a disposable sample adding tip, the cover support plate is used for placing a plurality of covers, and the reagent bottle seat is used for placing a plurality of reagent bottles;

the rotary worktable module is used for holding the consumable area and driving the consumable area to rotate and convey;

the vitrification reagent processing module comprises a plurality of pipettors, the end parts of the pipettors are provided with the disposable sample adding tips, and the pipettors are used for sucking the reagents in the reagent bottles and transferring the reagents into the freezing dish so as to process embryos;

the transfer module is used for transferring the cover carrier plate to the freezing dish support plate to enable the cover to be in contact with the freezing dish so as to realize cover transfer;

the heat sealing module is used for pressing the cover on the freezing dish to realize the sealing of the freezing dish;

the freezing module is used for freezing and storing the sealed freezing vessel;

the vitrification reagent processing module, the transfer module and the heat sealing module are distributed along the circumference of the rotation center of the rotary worktable module; when the rotary workbench module drives the consumable area to rotate and convey, the consumable area is respectively moved to the vitrification reagent processing module, the transfer module and the heat-sealing module so as to correspondingly carry out embryo processing, cover transfer and freezing dish sealing operation, and then the freezing dish is put into the freezing module, so that the automation of embryo vitrification freezing is realized.

Preferably, the rotary table module includes:

a table on which a mounting structure is formed to fix the consumable region;

the rotary driving device is used for driving the workbench to rotate;

the rotary transmission mechanism is respectively connected with the workbench and the rotary driving device;

the rotary driving device drives the workbench to move through the rotary transmission mechanism, so that the position of the consumable area is changed through the rotary motion of the workbench.

Preferably, the vitrification reagent processing module further includes:

the liquid transferring substrate is fixedly connected with the rack;

a pipetting fixing plate which is connected with the pipetting substrate in a sliding way;

the liquid transferring lifting plate is respectively connected with the liquid transferring fixing plate and the liquid transferring device in a sliding manner;

wherein a piston rod is arranged on the liquid transferring device; a first driving device for driving the piston rod to move up and down is arranged on the liquid transfer lifting plate so as to suck or discharge the reagent by the disposable sample adding tip; a second driving device for driving the liquid-transferring lifting plate to move up and down is arranged on the liquid-transferring fixing plate so as to prick or withdraw the disposable sample-adding tip; and a third driving device for driving the liquid transfer fixing plate to move horizontally is arranged on the liquid transfer substrate so as to realize the position change of the disposable sample adding tip between the reagent bottle and the freezing dish.

Preferably, the transfer module includes:

the visual detection structure is used for acquiring data of the cover on the cover carrier plate;

a robot assembly capable of performing a lifting motion to transfer the lid carrier onto the freezer support plate;

the transfer substrate is fixedly connected with the rack;

the transfer fixing plate is connected with the transfer substrate in a sliding mode on one side, and the visual detection structure and the mechanical arm assembly are fixed on the other side;

the transfer substrate is provided with a fourth driving device for driving the transfer fixing plate to horizontally move; the transfer fixing plate drives the visual detection structure and the mechanical arm assembly to move, the visual detection structure detects the cover support plate, and the mechanical arm assembly grabs and places the cover support plate according to detection data fed back by the visual detection structure so as to transfer the cover support plate.

Preferably, the manipulator assembly comprises a manipulator, a manipulator mounting plate and a manipulator fixing plate; wherein the content of the first and second substances,

the manipulator is positioned at the tail end of the manipulator assembly;

one end of the manipulator mounting plate is fixedly connected with the manipulator, and the other end of the manipulator mounting plate is connected to the manipulator fixing plate in a sliding manner;

the manipulator fixing plate is used for being connected with the transfer fixing plate;

the manipulator mounting plate is provided with a fifth driving device for controlling the opening and closing of the manipulator so as to realize the grabbing and placing of the cover carrier plate; and a sixth driving device for controlling the lifting motion of the manipulator mounting plate is arranged on the manipulator fixing plate.

Preferably, the heat-seal module includes:

a plurality of heat seal head assemblies;

the heat-sealing head mounting plates are arranged at the bottoms of the heat-sealing head mounting plates, and the arrangement mode of the heat-sealing head assemblies is matched with that of the freezing dishes on the freezing dish supporting plates;

the two sides of the heat-sealing substrate are respectively used for connecting the rack and the heat-sealing head mounting plate;

and the heat-seal base plate is provided with a seventh driving device for driving the heat-seal head mounting plate to move up and down, and the seventh driving device drives the heat-seal head assembly to move up and down so as to simultaneously seal the plurality of covers and the plurality of freezing dishes.

Preferably, the heat-seal head assembly comprises a heat-seal head, a heat-seal head mounting block, at least two guide members and an elastic member; wherein, the first and the second end of the pipe are connected with each other,

the shape of the heat sealing head is matched with the shape of the freezing dish so as to seal the cover and the freezing dish by hot pressing;

the two ends of the heat-sealing head mounting block are respectively connected with the heat-sealing head and the heat-sealing head mounting plate;

the two ends of the guide piece are respectively connected with the heat sealing head and the heat sealing head mounting block;

the elastic piece is sleeved on the guide piece and is positioned between the heat sealing head and the heat sealing head mounting block.

Preferably, the consumable area further comprises:

the sliding table is used for being in sliding connection with the rotary table module;

the consumable plate is arranged above the sliding table, and the freezing dish supporting plate, the cover supporting plate, the sample adding tip hole and the reagent bottle seat are sequentially arranged on the consumable plate along the installation direction of the sliding table;

the heating device is arranged at the bottom of the sliding table, corresponds to the position of the freezing dish supporting plate and is used for heating the freezing dish;

and the needle withdrawing mechanism stretches across the upper part of the consumable plate, and a recovery hole is formed in the corresponding position of the consumable plate and is used for accommodating the disposable sample adding tip detached by the pipettor.

Preferably, the cover carrier plate is provided with a plurality of bearing openings, and each bearing opening is correspondingly provided with a hollow carrier cover; after the cover is placed in the bearing opening, the bearing cover covers the edge position of the cover;

the arrangement mode of the bearing openings corresponds to that of the freezing dishes, and the plurality of covers can simultaneously complete sealing of the freezing dishes under the pressing effect of the heat sealing module.

Preferably, the freezing module is of a box structure, and freezing media are stored in the freezing module; and the embryo in the freezing dish is quickly frozen and preserved by putting the freezing dish into the freezing module.

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

1. the invention provides an automatic blank vitrification refrigerating device, which adopts a rotary worktable module inside, and a consumable area is arranged on the rotary worktable module, a vitrification reagent processing module, a transfer module and a heat sealing module are distributed along the circumference of the rotary center of the rotary worktable module, the space distribution is uniform, and the volume of the whole machine is reduced; when the rotary worktable module drives the consumable area to rotate and convey, the freezing dishes filled with embryos sequentially move to the lower parts of the corresponding operating stations without reciprocating movement, so that the motion impact on the embryos in the freezing dishes is avoided, and the survival rate of the embryos is improved; meanwhile, the invention can complete embryo treatment, cover transfer and freezing dish sealing operation in one-time rotary transmission process, reduce embryo movement times, save time and effectively improve embryo vitrification freezing efficiency.

2. According to the invention, the operation modules are distributed along the circumference of the rotation center of the rotary worktable module, and the modules are distributed in a dispersed manner, so that the influence of heat generated by heating the heat sealing module on other modules in the instrument can be reduced, and the heat sealing module is also beneficial to heat dissipation.

3. The cover transfer device is provided with a cover carrier plate and a transfer module for transferring the cover carrier plate, so that after a cover is placed at a fixed position of the cover carrier plate, the cover carrier plate is transferred onto a freezing dish support plate through the transfer module to realize cover transfer, and the cover and the freezing dish are sealed through a heat sealing module; through the arrangement, in the cover transferring process, the cover is prevented from being deformed due to the fact that the cover is in direct contact with the transferring module to bear external load, and the cover and the freezing dish can be fully contacted; in addition, in the process of transferring the cover carrier plate by the transfer module, the cover is always fixed by the cover carrier plate, so that the falling-off phenomenon is effectively avoided, and the sealing quality of the freezing dish is greatly improved; moreover, the mode of transferring the cover carrier plate through the transfer module to realize cover transfer can obviously reduce the noise generated during the operation of the instrument.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a first diagram of the overall structure of the automatic embryo vitrification freezing device of the present invention;

FIG. 2 is a schematic view of the overall structure of the automatic embryo vitrification freezing apparatus of the present invention;

FIG. 3 is a third diagram showing the overall structure of the automatic embryo vitrification freezing device of the present invention;

FIG. 4 is a schematic view of the assembly relationship between the rotary table module and the consumable area according to the present invention;

FIG. 5 is a schematic structural view of a rotary table module according to the present invention;

FIG. 6 is a schematic view of the structure of the consumable region of the present invention;

FIG. 7 is a schematic view of a lid carrier according to the present invention;

FIG. 8 is a schematic view of an assembly of a lid carrier, a lid and a carrier lid according to the present invention;

FIG. 9 is a schematic view of the structure of the vitrification reagent processing module in accordance with the present invention;

FIG. 10 is a schematic view of an explosive structure of the vitrification reagent processing module of the present invention;

FIG. 11 is a first schematic structural diagram of a transfer module according to the present invention;

FIG. 12 is a second structural view of a transfer module according to the present invention;

FIG. 13 is a schematic view of the robot assembly of the present invention;

FIG. 14 is a first schematic view showing the construction of a heat-seal module according to the present invention;

FIG. 15 is a view showing the structure of a heat-seal module of the present invention;

FIG. 16 is a schematic view of the construction of the heat sealing head assembly of the present invention;

fig. 17 is a schematic structural view of a freezing module according to the present invention.

In the figure: 1. an automatic embryo vitrification freezing device; 101. a frame;

10. a rotary table module; 11. a work table; 111. a chute; 112. a notch; 12. a rotation driving device; 13. a rotary transmission mechanism;

20. a consumable region; 21. a sliding table; 22. a consumable plate; 221. a freezing dish support plate; 2211. a freezing dish; 222. a lid carrier; 2221. a cover; 22211. a protruding portion; 2222. a load port; 22221. a bayonet; 22222. a hole of abdication; 2223. a carrying cover; 22231. a fastening part; 2224. a convex strip; 22241. a groove; 223. a sample application tip hole; 2231. a disposable sample adding tip; 224. a reagent bottle holder; 2241. a first reagent bottle; 2242. a second reagent bottle; 225. a recovery hole; 23. a heating device; 24. a needle withdrawing mechanism; 241. withdrawing the needle mouth;

30. a vitrification reagent processing module; 31. a pipettor; 311. a piston rod; 312. a pipettor mounting plate; 313. a pipettor mount; 32. pipetting a substrate; 33. a pipetting fixing plate; 331. a first pipetting fixing plate; 332. a second pipetting fixture plate; 34. a pipetting lifter plate; 35. a first driving device; 36. a second driving device; 37. a third driving device;

40. a transfer module; 41. a visual inspection structure; 42. a manipulator assembly; 421. a manipulator; 4211. a clamping jaw; 4212. a cushion pad; 422. a manipulator mounting plate; 423. a manipulator fixing plate; 424. a fifth driving device; 425. a sixth driving device; 43. transferring the substrate; 44. transferring the fixed plate; 441. a first transfer fixing plate; 442. a second transfer fixing plate; 44. a fourth drive device;

50. a heat-sealing module; 51. a heat seal head assembly; 511. heat sealing; 512. a heat seal head mounting block; 513. a guide member; 514. an elastic member; 52. a heat seal head mounting plate; 53. heat-sealing the substrate; 54. a seventh driving device;

60. a freezing module; 61. a box body; 62. and a box cover.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments of the present invention, belong to the protection scope of the present invention.

In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components.

In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc., are defined with respect to the configurations shown in the respective drawings, and in particular, "height" corresponds to a dimension from top to bottom, "width" corresponds to a dimension from left to right, "depth" corresponds to a dimension from front to rear, which are relative concepts, and thus may be varied accordingly depending on the position in which it is used, and thus these or other orientations should not be construed as limiting terms.

Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.

Example 1

The embodiment of the invention provides an automatic vitrification freezing device for embryos, which is shown in a combined figure 1-17 and comprises:

a rack 101, and a rotary table module 10, a consumable area 20, a vitrification reagent processing module 30, a transfer module 40, a heat-sealing module 50, and a freezing module 60 located on the rack 101; wherein the content of the first and second substances,

the consumable region 20 comprises a freezing dish support plate 221, a cover support plate 222, a sample adding tip hole 223 and a reagent bottle seat 224; the freezing dish support plate 221 is used for placing a plurality of freezing dishes 2211, the cover support plate 222 is used for placing a plurality of covers 2221, the sample adding tip hole 223 is used for placing a disposable sample adding tip 2231, and the reagent bottle seat 224 is used for placing a plurality of reagent bottles;

the rotary worktable module 10 is used for Cheng Tuo to drive the consumable area 20 to rotate and convey;

the vitrification reagent processing module 30 includes several pipettors 31, the ends of which are installed with the disposable sample adding tips 2231, for sucking the reagent in the reagent bottle and transferring it into the freezing dish 2211 for embryo processing;

the transfer module 40 is configured to transfer the cover carrier 222 onto the freezing dish support plate 221, so that the cover 2221 contacts the freezing dish 2211, thereby transferring the cover 2221;

the heat-sealing module 50 is used for pressing the cover 2221 onto the freezing dish 2211 to seal the freezing dish 2211;

the freezing module 60 is used for freezing and preserving the sealed freezing vessel 2211;

the vitrification reagent processing module 30, the transfer module 40 and the heat sealing module 50 are distributed along the circumference of the rotation center of the rotary table module 10; when the rotary table module 10 drives the consumable area 20 to rotate and convey, the consumable area 20 moves to the vitrification reagent processing module 30, the transfer module 40 and the heat-sealing module 50 respectively, so as to put the freezing capsule 2211 into the freezing module 60 after embryo processing, lid 2221 transfer and freezing capsule 2211 sealing operations are correspondingly performed, thereby realizing automation of embryo vitrification freezing.

Firstly, a rotary workbench module 10 is adopted in the automatic embryo vitrification freezing device 1, a consumable area 20 is arranged on the rotary workbench module 10, a vitrification reagent processing module 30, a transfer module 40 and a heat sealing module 50 are distributed along the circumference of the rotary center of the rotary workbench module 10, the space distribution is uniform, and the volume of the whole machine is reduced; when the rotary workbench module 10 drives the consumable area 20 to rotate and convey, the freezing dishes 2211 filled with embryos sequentially move to the lower parts of corresponding operation stations without reciprocating motion, so that the embryos in the freezing dishes 2211 are prevented from moving and impacting, and the survival rate of the embryos is improved; meanwhile, the invention can complete embryo treatment, cover transfer and freezing dish sealing operation in one-time rotary transmission process, reduce embryo movement times, save time and effectively improve embryo vitrification freezing efficiency.

Secondly, in the invention, the operation modules are distributed along the circumference of the rotation center of the rotary table module 10, and the modules are distributed dispersedly, thereby not only reducing the influence of heat generated by heating the heat-sealing module 50 on the inside of the instrument, but also being beneficial to heat dissipation of the heat-sealing module 50.

In addition, since the cover is a thin film sheet, the strength is weak, and in order to avoid that the cover 2221 is in direct contact with the transfer module 40 in the process of transferring the cover 2221 and the cover is not in sufficient contact with the freezing dish due to deformation after bearing an external load, the cover 2221 is placed at a fixed position of the cover carrier 222 by arranging the cover carrier 222 and the transfer module 40 for transferring the cover carrier 222, and then the cover carrier 222 is transferred onto the freezing dish support plate 221 through the transfer module 40, so that the transfer of the cover 2221 is realized, and the transfer module 40 is prevented from directly acting on the cover 2221, so that the sealing quality of the cover 2221 to the freezing dish 2211 is improved.

Moreover, in the process of transferring the cover carrier 222 by the transfer module 40, the cover 2221 is always fixed by the cover carrier 222, so as to effectively avoid the falling-off phenomenon; moreover, in the present invention, the cover support plate 222 is transferred by the transfer module 40 to transfer the cover 2221, so that the noise generated during the operation of the apparatus can be significantly reduced.

Because the automatic embryo vitrification freezing device 1 is used for vitrification freezing embryos and needs to sequentially complete operations such as vitrification freezing reagent treatment, encapsulation, quick freezing and the like, in the above operation process, the embryos are always stored in the freezing vessel 2211, and the embryos need to be transferred to the lower part of the corresponding operation station by changing the position of the freezing vessel 2211, wherein the change of the position of the freezing vessel 2211 is realized by the rotary table module 10.

In one embodiment, as shown in fig. 4 and 5, the rotary table module 10 includes:

a table 11 having a mounting structure formed thereon for fixing the consumable region 20;

a rotary driving device 12 for driving the worktable 11 to rotate;

a rotation transmission mechanism 13 connected to the table 11 and the rotation driving device 12, respectively;

the rotary driving device 12 drives the workbench 11 to move through the rotary transmission mechanism 13, so that the position of the consumable area 20 is changed through the rotary motion of the workbench 11.

Specifically, the workbench 11 is disc-shaped, a sliding slot 111 is formed in the workbench 11, the shape of the sliding slot 111 is matched with the shape of the consumable area 20, and the consumable area 20 is detachably mounted in the sliding slot 111; preferably, the rotary driving device 12 can be set as a motor, the rotary transmission mechanism 13 can be set as a gear, driving force is provided for the gear through the motor, the workbench 11 is driven to rotate through combined transmission of the gears, the higher precision and the more refined transmission requirement can be realized, the operation process is reliable, the service life is long, the stability of the rotation of the workbench 11 is improved, and the buffer and vibration absorption function is provided, so that the embryo in the freezing dish 2211 is prevented from generating motion impact.

In one embodiment, as shown in conjunction with FIGS. 4-8, the consumable region 20 further comprises:

a slide table 21 to be slidably connected to the rotary table module 10; and the appearance of slip table 21 and spout 111 shape looks adaptation to make slip table 21 can the joint in this spout 111, in order to guarantee the reciprocal anchorage of consumptive material district 20 and workstation 11.

A consumable material plate 22 mounted above the slide table 21, wherein the freezing dish support plate 221, the cover support plate 222, the sample addition tip hole 223, and the reagent bottle holder 224 are sequentially arranged on the consumable material plate 22 along the mounting direction of the slide table 21; specifically, the consumable plate 22 includes 1 freezing dish support plate 221, 1 cover support plate 222, 4 sample injection tip holes 223, and 4 reagent bottle holders 224; wherein the content of the first and second substances,

4 freezing dishes 2211 can be simultaneously placed on 1 freezing dish supporting plate 221, and embryos are placed in the freezing dishes 2211;

4 lids 2221 can be placed on 1 lid carrier 222 at the same time, and the lids 2221 are fixed on the lid carrier 222;

a disposable sample adding tip 2231 is placed in each sample adding tip hole 223;

two reagent bottles are sequentially placed on each reagent bottle seat 224, wherein each reagent bottle seat comprises a first reagent bottle 2241 and a second reagent bottle 2242, the first reagent bottle 2241 is an ES bottle and is used for storing a balance reagent, and the second reagent bottle 2242 is a VS bottle and is used for storing a vitrification reagent bottle;

when the freezing vessel 2211, the cover 2221, the disposable sample adding tip 2231 and the reagent bottle are placed completely, the arrangement modes of the freezing vessel 2211, the cover 2221, the disposable sample adding tip 2231 and the reagent bottle correspond to each other, so that corresponding operations can be performed subsequently.

A heating device 23 installed at the bottom of the sliding table 21, wherein the heating device 23 corresponds to the freezing dish support plate 221 in position to heat the freezing dish 2211 to provide the temperature required by the embryo; wherein, the workbench 11 is provided with a gap 112, when the consumable area 20 is assembled on the workbench 11, the heating device 23 is partially exposed at the gap 112, so as to prevent the heat of the heating device 23 from accumulating on the workbench 11 to affect the normal operation of the workbench 11.

A needle withdrawing mechanism 24 spanning above the material consumption plate 22, and a recovery hole 225 is formed at a position corresponding to the material consumption plate 22 for receiving the disposable sample adding tip 2231 detached from the pipette 31; specifically, the needle withdrawing mechanism 24 is a bent plate, and a needle withdrawing opening 241 is formed in the bent plate, when the pipette 31 moves to the needle withdrawing opening 241, the disposable sample adding tip 2231 is aligned with the recovery hole 225, and when the disposable sample adding tip 2231 is removed by the pipette 31, the disposable sample adding tip 2231 can directly fall into the recovery hole 225.

Further, the cover carrier 222 is provided with a plurality of carrying openings 2222, and each carrying opening 2222 is correspondingly provided with a hollow carrying cover 2223; after the cover 2221 is placed in the carrying port 2223, the carrying cover 2223 is covered on the edge of the cover 2221;

the arrangement of the carrying openings 2222 corresponds to the arrangement of the freezing vessels 2211, and under the pressing action of the heat-sealing module 50, the plurality of covers 2221 can simultaneously seal the plurality of freezing vessels 2211.

Further, a fastening portion 22231 is formed on the carrying cover 2223, a fastening opening 22221 is correspondingly formed at the carrying opening 2222, and the fastening portion 22231 can be fastened to the fastening opening 22221, so that an operator can open or close the carrying cover 2223 through the structure, and the cover 2221 can be conveniently mounted on the cover carrier 222. Preferably, the cover 2221 is formed with a protruding portion 22211, the cover 2221 is circular, and the edge of the cover 2221 is extended with a protruding portion 22211 along the radial direction, the circular portion is used to be tightly attached to the end surface of the freezing dish 2211 for sealing, and the protruding portion 22211 may be partially attached to the freezing dish 2211 or not, so that the operator can easily tear the cover 2221 by holding the protruding portion 22211, which is beneficial to improving the convenience and comfort of the operator. Meanwhile, when the cover 2221 and the carrier cover 2223 are mounted, the protruding portion 22211 is positioned in the relief hole 22222 formed in the carrier opening 2222 by the pressing force of the carrier cover 2223. In this embodiment, the lid support plate 222 is transferred to the freezing dish support plate 221 and assembled to realize the sealing contact between the lid 2221 and the freezing dish 2211; therefore, by adopting the above structure, the cover 2221 is always located in the fixed position of the cover carrier 222 during the transfer of the cover carrier 222, and the cover 2223 can prevent the cover 2221 from falling off or deforming during the transfer.

In one embodiment, as shown in conjunction with fig. 9 and 10, the vitrification reagent process module 30 further includes:

a pipetting substrate 32 fixedly connected to the rack 101;

a pipetting fixing plate 33 slidably connected to the pipetting substrate 32;

a pipetting lifting plate 34 which is respectively connected with the pipetting fixing plate 33 and the pipettor 31 in a sliding manner;

wherein, a piston rod 311 is arranged on the pipette 31; the liquid-transfering lifting plate 34 is provided with a first driving device 35 for driving the piston rod 311 to move up and down so as to suck or discharge the reagent by the disposable sample adding tip 2231; the pipetting fixing plate 33 is provided with a second driving device 36 for driving the pipetting lifting plate 34 to move up and down so as to prick or withdraw the disposable sample adding tip 2231; the pipetting base plate 32 is provided with a third driving device 37 for driving the pipetting fixing plate 33 to move horizontally, so as to realize the position change of the disposable sample adding tip 2231 between the reagent bottle and the freezing dish 2211.

The vitrification freezing reagent comprises a balancing reagent and a vitrification reagent, and the embryo is processed by the vitrification reagent processing module 30 sequentially.

Specifically, in this embodiment, the vitrification reagent processing module 30 includes a 4-channel pipette 31, the pipette 31 includes a piston rod 311, and each pipette 31 is respectively installed with a disposable sampling tip 2231, and the movement of the piston rod 311 is controlled to realize the suction and discharge of the disposable sampling tip 2231 to the reagent; pipettor 31 both ends are connected with pipettor mounting panel 312 and pipettor mount pad 313 respectively, and wherein, pipettor mount pad 313 and move liquid lifting plate 34 fixed connection, pipettor mounting panel 312 one side is fixed with piston rod 311, and the opposite side is connected with first drive arrangement 35, can understand that, under the drive of first drive arrangement 35, pipettor mounting panel 312 can be relative pipettor mount pad 313 and do elevating movement to, under the drive of pipettor mounting panel 312, piston rod 311 is elevating movement.

The pipetting fixing plate 33 comprises a first pipetting fixing plate 331 and a second pipetting fixing plate 332, wherein the first pipetting fixing plate 331 is horizontally arranged and is used for being connected with the pipetting base plate 32 in a sliding manner, and the second pipetting fixing plate 332 is vertically arranged and is used for being connected with the pipetting lifting plate 34; specifically, the third driving device 37 is located between the pipetting substrate 32 and the first pipetting fixing plate 331, so that the first pipetting fixing plate 331 can move horizontally relative to the pipetting substrate 32, and because the first pipetting fixing plate 331 and the second pipetting fixing plate 332 are fixedly connected with each other, the first pipetting fixing plate 331 can drive the second pipetting fixing plate 332 and the structure connected with the second pipetting fixing plate 332 to move horizontally together under the driving action of the third driving device 37; the second driving means 36 is located between the pipetting elevation plate 34 and the second pipetting fixture plate 332 so that the pipetting elevation plate 34 can be moved up and down relative to the second pipetting fixture plate 332.

The first driving device 35, the second driving device 36 and the third driving device 37 each include a driving mechanism and a transmission mechanism, preferably, the driving mechanism is a motor, and the transmission mechanism is a guide rail assembly; under the driving action of the first driving device 35, the second driving device 36 and the third driving device 37, the 4-channel pipettor 31 can simultaneously pump out reagents and change positions, so that the 4-channel pipettor 31 can simultaneously perform embryo processing on the 4 freezing dishes 2211. The arrangement of the 4-channel pipettor 31 corresponds to the arrangement of the reagent bottles and the freezing vessel 2211.

In one embodiment, as shown in connection with fig. 11-13, the transfer module 40 includes:

a visual inspection structure 41, configured to collect data of the cover 2221 on the cover carrier 222;

a robot assembly 42 capable of performing an elevating motion to transfer the lid carrier 222 onto the freezer support plate 221;

a transfer substrate 43 fixedly connected to the frame 101;

a transfer fixing plate 44 having one side to which the transfer substrate 43 is slidably coupled and the other side to which the vision inspection structure 41 and the robot assembly 42 are fixed;

wherein, a fourth driving device 44 for driving the transfer fixing plate 44 to move horizontally is arranged on the transfer substrate 43; the transfer fixing plate 44 drives the vision inspection structure 41 and the robot assembly 42 to move, the vision inspection structure 41 inspects the lid carrier plate 222, and the robot assembly 42 picks and places the lid carrier plate 222 according to the inspection data fed back by the vision inspection structure 41, so as to transfer the lid carrier plate 222.

Specifically, the transfer fixing plate 44 includes a first transfer fixing plate 441 and a second transfer fixing plate 442, wherein the first transfer fixing plate 441 is horizontally disposed, one side of the first transfer fixing plate is slidably connected to the transfer substrate 43, the other side of the first transfer fixing plate is fixedly connected to the vision inspection structure 41 and the second transfer fixing plate 442, and the second transfer fixing plate 442 is vertically disposed for being fixedly connected to the robot assembly 42; and since the first and second

transfer fixing plates

441 and 442 are fixed to each other, when the first transfer fixing plate 441 is driven by the fourth driving device 44 to move horizontally relative to the transfer substrate 43, the first transfer fixing plate 441 drives the vision inspection structure 41, the second transfer fixing plate 442 and the structure (i.e., the robot assembly 42) connected thereto to move horizontally together. The visual inspection structure 41 and the robot assembly 42 are respectively disposed on two sides of the second transfer fixing plate 442.

Before the lid carrier 222 is transferred, the visual inspection structure 41 is used to confirm whether the lid 2221 on the lid carrier 22 is contaminated or damaged, so as to ensure that the lid 2221 and the freezing dish 2211 can be in effective sealing contact when the lid carrier 222 is transferred to the freezing dish support plate 221.

Further, the robot assembly 42 includes a robot 421, a robot mounting plate 422, and a robot fixing plate 423; wherein, the first and the second end of the pipe are connected with each other,

the robot 421 is located at the end of the robot assembly 42;

one end of the manipulator mounting plate 422 is fixedly connected with the manipulator 421, and the other end is slidably connected to the manipulator fixing plate 423;

the robot fixing plate 423 is configured to be connected to the transfer fixing plate 44;

a fifth driving device 424 for controlling the opening and closing of the manipulator 421 is arranged on the manipulator mounting plate 422, so as to realize the grabbing and placing of the cover carrier plate 222; the manipulator fixing plate 423 is provided with a sixth driving device 425 for controlling the lifting movement of the manipulator mounting plate 422.

Wherein the fourth driving device 44, the fifth driving device 424 and the sixth driving device 425 each comprise a driving mechanism and a transmission mechanism; preferably, the driving mechanism is provided as a motor, and the transmission mechanism is provided as a guide rail assembly.

Further, two protrusions 2224 are formed on the lid carrier 222, and the robot 421 includes two jaws 4211, which respectively act on the two protrusions 2224 by the two jaws 4211 to clamp the lid carrier 222 for position shifting.

Further, the inner side surface of the clamping jaw 4211 is covered with a cushion 4212 to reduce the impact force between the clamping jaw 4211 and the protruding strip 2224, so as to avoid the cover 2221 from falling off or being dislocated.

Preferably, the surfaces of the protruding strips 2224 contacting the clamping jaws 4211 are formed with grooves 22241, and the clamping structures corresponding to the grooves 22241 are formed at the corresponding positions of the clamping jaws 4211, so that the clamping jaws 4211 can clamp the cover carrier plate 222 more stably by clamping the clamping structures into the grooves 22241, so that the cover carrier plate 222 is always fixed on the robot 421 during the transferring process.

In one embodiment, as shown in connection with fig. 14-16, the heat seal module 50 includes:

a plurality of heat seal head assemblies 51;

the heat-seal head mounting plate 52 is provided with a plurality of heat-seal head assemblies 51 at the bottom of the heat-seal head mounting plate 52, and the arrangement of the heat-seal head assemblies 51 is matched with the arrangement of the freezing dishes 2211 on the freezing dish support plate 221;

a heat-seal substrate 53, both sides of which are respectively used to connect the frame 101 and the heat-seal-head mounting plate 52;

the seventh driving device 54 for driving the heat-sealing head mounting plate 52 to move up and down is mounted on the heat-sealing substrate 53, and drives the heat-sealing head assembly 51 to move up and down to simultaneously seal the plurality of lids 2221 and the plurality of freezing vessels 2211.

Specifically, in the present embodiment, the end of the heat-sealing module 50 includes a four-channel heat-sealing head assembly 51, and the four-channel heat-sealing head assembly 51 works simultaneously, and drives the heat-sealing head mounting plate 52 to move up and down through the seventh driving device 54 to drive the heat-sealing head assembly 51 to move up and down.

Further, the heat seal head assembly 51 comprises a heat seal head 511, a heat seal head mounting block 512, at least two guide members 513 and a resilient member 514; wherein the content of the first and second substances,

the shape of the heat sealing head 511 is matched with the shape of the freezing dish 2211 so as to seal the cover 2221 and the freezing dish 2211 by heat pressing;

the two ends of the heat-sealing head mounting block 512 are respectively connected with the heat-sealing head 511 and the heat-sealing head mounting plate 52;

the two ends of the guide 513 are respectively connected with the heat sealing head 511 and the heat sealing head mounting block 512;

the elastic member 514 is sleeved on the guide member 513 and is located between the heat sealing head 511 and the heat sealing head mounting block 512.

Wherein the guiding element is a guiding shaft, and the elastic element is a compression spring, so as to ensure the consistency of the simultaneous operation of the four-channel heat sealing head assembly 51.

After the lid 2221 is sealed to the freezing dishes 2211, 4 lids 2221 are simultaneously pressed onto 4 freezing dishes 2211 by the 4 hot press heads 511 of the heat sealing module 50, so that the freezing dishes 2211 are completely sealed.

In one embodiment, as shown in fig. 17, the freezing module 60 is a box structure, and includes a box 61 and a box cover 62, and the box 61 stores a freezing medium therein; the embryo in the freezing dish 2211 is frozen and preserved quickly by putting the freezing dish 2211 into the freezing module 60.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. An automatic vitrification refrigerating device for embryos is characterized by comprising:

the device comprises a rack, and a rotary workbench module, a consumable area, a vitrification reagent processing module, a transfer module, a heat sealing module and a freezing module which are positioned on the rack; wherein the content of the first and second substances,

the rotary worktable module is used for accommodating the consumable area and driving the consumable area to rotate and convey;

2. The automated embryo vitrification freezing apparatus of claim 1 wherein the rotary table module comprises:

a work table on which a mounting structure is formed to fix the consumable region;

the rotary driving device is used for driving the workbench to rotate;

3. The automated embryo vitrification freezing apparatus of claim 1 wherein the consumable area further comprises:

4. An automatic embryo vitrification freezing apparatus according to claim 3, wherein: a plurality of bearing openings are formed in the cover carrier plate, and a hollow carrier cover is correspondingly arranged on each bearing opening; after the cover is placed in the bearing opening, the bearing cover covers the edge position of the cover;

5. The automated embryo vitrification freezing apparatus of claim 1 wherein the vitrification reagent processing module further comprises:

the liquid transferring substrate is fixedly connected with the rack;

the liquid transfer lifting plate is respectively connected with the liquid transfer fixing plate and the liquid transfer device in a sliding manner;

6. The automated embryo vitrification freezing apparatus of claim 1 wherein the transfer module comprises:

the transfer substrate is fixedly connected with the rack;

7. An automatic embryo vitrification freezing apparatus according to claim 6, wherein: the manipulator assembly comprises a manipulator, a manipulator mounting plate and a manipulator fixing plate; wherein the content of the first and second substances,

the manipulator is positioned at the tail end of the manipulator assembly;

8. The automated embryo vitrification freezing apparatus of claim 1 wherein the heat sealing module comprises:

a plurality of heat seal head assemblies;

9. An automatic embryo vitrification freezing apparatus according to claim 1, wherein: the heat sealing head assembly comprises a heat sealing head, a heat sealing head mounting block, at least two guide members and an elastic member; wherein the content of the first and second substances,

two ends of the guide piece are respectively connected with the heat seal head and the heat seal head mounting block;

10. An automatic embryo vitrification freezing apparatus according to claim 1, wherein: the freezing module is of a box body structure, and freezing media are stored in the freezing module; and the embryo in the freezing dish is quickly frozen and preserved by putting the freezing dish into the freezing module.