CN116750353A

CN116750353A - Picking and managing system and biological sample storage warehouse comprising same

Info

Publication number: CN116750353A
Application number: CN202310747195.5A
Authority: CN
Inventors: 王杰; 刘占杰; 赵洪滨; 谢玉刚
Original assignee: Qingdao Haier Biomedical Co Ltd
Current assignee: Qingdao Haier Biomedical Co Ltd
Priority date: 2023-06-21
Filing date: 2023-06-21
Publication date: 2023-09-15

Abstract

The invention belongs to the technical field of biological sample storage, and particularly provides a picking and managing system and a biological sample storage library comprising the same. Aims at solving the problems that the existing picking and managing system is large in size and inconvenient to assemble and use. The tube picking system comprises a base, a first freezing storage box receiving and transferring device, tube picking equipment and a code scanning device; the first freezing box receiving and transferring device can receive and transfer the freezing box along the Y axis and the X axis, and can be in butt joint with the pipe picking equipment and the code scanning device; the tube picking device is arranged to be capable of performing tube picking operation; the code scanning device can scan the received box code of the freezing box and the pipe code of the freezing pipe in the freezing box. The invention simplifies the number of the transfer devices for conveying the freezing storage boxes in the picking and managing system, and ensures that each device is compacter in arrangement, thereby reducing the volume of the picking and managing system and being more convenient to apply.

Description

Picking and managing system and biological sample storage warehouse comprising same

Technical Field

The invention belongs to the technical field of biological sample storage, and particularly provides a picking and managing system and a biological sample storage library comprising the same.

Background

The development of life science research and the progress of disease analysis detection and treatment and health care technologies in the clinical medical field have promoted the increasingly wide demand for biological samples, and have also put higher demands on the storage technology and equipment of biological samples, including demands on the safety, reliability and stability of stored samples, and the accuracy, efficiency and scientificity of sample access processes and procedures. Long-term storage of biological samples generally requires the use of as low a temperature as possible to reduce the biochemical reactions within the sample and to increase the stability of the various components within the sample. The development and use of automated cryogenic or ultra-cryogenic biological sample access devices is a necessary development in order to achieve long-term, stable, reliable storage and sampling of large volumes of biological samples.

In order to realize the access of a specific freezing storage tube, a tube picking device is generally arranged in low-temperature storage equipment to carry out tube picking operation, and a plurality of transfer devices are arranged in a tube picking room to realize the transfer operation of the freezing storage box in different directions in order to cooperate with the tube picking device, so that the freezing storage box has large occupied area, complex structure and inconvenient assembly and use.

Accordingly, there is a need in the art for a new solution to the above-mentioned technical problems.

Disclosure of Invention

The invention aims to solve the technical problems that the existing pipe picking system is large in size and inconvenient to assemble and use.

In a first aspect, the invention provides a tube picking system, which comprises a base, a first freezing storage box receiving and transferring device, tube picking equipment and a code scanning device, wherein the first freezing storage box receiving and transferring device, the tube picking equipment and the code scanning device are arranged on the base; the first freezing box receiving and transferring device is arranged to be capable of receiving and transferring the freezing box along a Y axis and an X axis, and is capable of being respectively in butt joint with the pipe picking equipment and the code scanning device; the tube picking device is arranged to be capable of being in butt joint with the first freezing box receiving and transferring device to receive the freezing box and conduct tube picking operation; the code scanning device can be in butt joint with the first frozen storage box receiving and transferring device so as to receive frozen storage boxes, box codes of the frozen storage boxes which can be received in a scanning mode and pipe codes of frozen storage pipes in the frozen storage boxes.

In the preferable technical scheme of the picking and pipe system, the first freezing storage box receiving and transferring device comprises a first mounting piece, a first lifting mechanism, a second mounting piece, a first horizontal sliding mechanism, a third mounting piece, a rotary shovel disc mechanism and a horizontal transferring mechanism, wherein the first lifting mechanism, the second mounting piece, the first horizontal sliding mechanism, the third mounting piece, the rotary shovel disc mechanism and the horizontal transferring mechanism are arranged on the first mounting piece; the first mounting piece is mounted on the base, the second mounting piece is connected with the first lifting mechanism, the first horizontal sliding mechanism and the horizontal transferring mechanism are mounted on the second mounting piece, the first horizontal sliding mechanism and the horizontal transferring mechanism are distributed at intervals along an X axis, the third mounting piece is connected with the first horizontal sliding mechanism, the rotary shovel disc mechanism is mounted on the third mounting piece, and the first lifting mechanism is arranged to drive the second mounting piece, the first horizontal sliding mechanism, the horizontal transferring mechanism, the third mounting piece and the rotary shovel disc mechanism to move along a Z axis; the first horizontal sliding mechanism is arranged to drive the third mounting piece and the rotary shovel disk mechanism to move along the Y axis, so that the rotary shovel disk mechanism can be in butt joint with the pipe picking device to transfer the freezing box; the rotary shovel disc mechanism is arranged to be capable of rotating circumferentially around the vertical shaft and moving telescopically along the length direction of the rotary shovel disc mechanism so as to receive and transfer the freezing box; the horizontal transfer mechanism is arranged to receive and transfer the frozen box along the Y axis and transfer the frozen box between the picking pipe equipment and the code scanning device.

In the preferable technical scheme of the picking and managing system, the code scanning device and the horizontal transferring mechanism are distributed along the Y-axis at intervals, and the first lifting mechanism drives the horizontal transferring mechanism to move to the same height as the code scanning device, and the horizontal transferring mechanism and the code scanning device are arranged opposite to each other.

In the preferable technical scheme of the pipe picking system, the rotary shovel disk mechanism comprises a fourth mounting piece, a fifth mounting piece mounted on the fourth mounting piece, a rotary mechanism, a telescopic mechanism and a shovel disk piece; the fourth mounting piece is installed on the third mounting piece, the fifth mounting piece is connected with the fourth mounting piece through the rotary mechanism, the telescopic mechanism and the shovel disc piece are installed on the fifth mounting piece, the rotary mechanism is arranged to drive the fifth mounting piece, the telescopic mechanism and the shovel disc piece rotate around a vertical shaft, and the telescopic mechanism is arranged to drive the shovel disc piece to stretch out and draw back along the length direction of the fifth mounting piece.

In the preferable technical scheme of the pipe picking system, the pipe picking device comprises a second horizontal sliding mechanism, a freezing box fixing mechanism and a pipe picking device, wherein the first freezing box receiving and transferring device, the second horizontal sliding mechanism and the code scanning device are sequentially arranged along a Y axis, the pipe picking device and the code scanning device are distributed at intervals along an X axis, and the freezing box fixing mechanism can fix two freezing boxes simultaneously; the second horizontal sliding mechanism and the tube picking device are arranged on the base, and the freezing box fixing mechanism is arranged on the second horizontal sliding mechanism; the second horizontal sliding mechanism is arranged to drive the freezing box fixing mechanism to move along the X axis so as to enable the freezing box fixing mechanism to move among a first box receiving position, a second box receiving position and a tube picking position; the freezing box fixing mechanism can be in butt joint with the rotary shovel disc mechanism at the first box connecting position and can be in butt joint with the horizontal transferring mechanism at the second box connecting position so as to receive and transfer the freezing box; the tube picking device is arranged to be capable of picking the frozen box on the frozen box fixing mechanism at the tube picking position.

In the preferable technical scheme of the pipe picking system, the pipe picking device comprises a first connecting piece, a second lifting mechanism, a second connecting piece, a third horizontal sliding mechanism and a pipe picking clamping jaw; the first connecting piece is arranged on the base, the second lifting mechanism is arranged on the first connecting piece, the second connecting piece is arranged on the second lifting mechanism, the third horizontal sliding mechanism is arranged on the second connecting piece, and the pipe picking clamp claw is arranged on the third horizontal sliding mechanism; the second lifting mechanism is arranged to drive the second connecting piece, the third horizontal sliding mechanism and the pipe picking clamp claw to move along a Z axis relative to the first connecting piece, and the third horizontal sliding mechanism is arranged to drive the pipe picking clamp claw to move along a Y axis relative to the second connecting piece; the tube picking clamping jaw can clamp the freezing tube.

In the preferable technical scheme of the pipe picking system, the pipe picking device further comprises a pipe jacking device, and the pipe jacking device is arranged to be capable of jacking out the frozen storage pipes in the frozen storage boxes on the frozen storage box fixing mechanism at the pipe picking position, so that the pipe picking device picks the pipes smoothly.

In the preferable technical scheme of the pipe picking system, the pipe jacking device comprises a third connecting piece, a third lifting mechanism and a pipe jacking piece; the third connecting piece with choosing pipe clamp claw is connected, third elevating system installs on the third connecting piece, the push pipe spare with third elevating system is connected, third elevating system sets up to can drive push pipe spare moves along the Z axle, the push pipe head of push pipe spare is located choosing pipe clamp claw's below and with choosing pipe clamp claw just to setting.

In a second aspect, the present invention provides a biological sample storage library comprising a box, a second cryopreservation cassette receiving and transporting device, and a picking tube system as described above; the box body is internally provided with a picking pipe room and a storage room which are communicated and distributed along a Y axis; the second cryopreservation box receiving and transferring device and the picking pipe system are arranged in the picking pipe, and the second cryopreservation box receiving and transferring device is arranged to transfer the cryopreservation boxes between the first cryopreservation box receiving and transferring device and the storage room.

In a preferred embodiment of the above biological sample storage library, the second freezing storage box receiving and transferring device includes a first support member, a fourth horizontal sliding mechanism mounted on the first support member, a second support member, and a box carrying member; the second supporting piece is arranged on the fourth horizontal sliding mechanism, the box carrying piece is arranged on the second supporting piece, and the box carrying piece can carry the freezing box; the fourth horizontal sliding mechanism is arranged to drive the second supporting piece and the box carrying piece to move along the Y axis so as to transfer the frozen box between the picking pipe and the storage room, and the first frozen box transferring and receiving device can be in butt joint with the box carrying piece to transfer the frozen box.

Under the condition that the technical scheme is adopted, the picking and pipe system comprises a base, and a first freezing and storing box receiving and transferring device, a picking pipe device and a code scanning device which are arranged on the base, wherein the first freezing and storing box receiving and transferring device can receive and transfer freezing and storing boxes along an X axis and a Y axis, and the first freezing and storing box receiving and transferring device can be respectively connected with the picking pipe device and the code scanning device in a butt joint mode so as to smoothly complete the transferring operation of the freezing and storing boxes, and the setting mode enables the first freezing and storing box receiving and transferring device to be connected with two perpendicular directions so as to receive and transfer the freezing and storing boxes, so that the application is more convenient, the quantity of transferring devices for conveying the freezing and storing boxes in the picking and pipe system is simplified, the arrangement of the devices is more compact, the volume of the picking and pipe system is reduced, and the application is more convenient; in addition, the first cryopreservation box receiving and transferring device can be in butt joint with the X axis and the Y axis, so that the conveying requirements of the cryopreservation boxes in different directions can be met, and the application is more convenient.

Further, the first freezing storage box receiving and transferring device comprises a first mounting piece, a first lifting mechanism, a second mounting piece, a first horizontal sliding mechanism, a third mounting piece, a rotary shovel disc mechanism and a horizontal transferring mechanism; the first horizontal sliding mechanism, the rotary shovel disc mechanism and the horizontal transferring mechanism can change the corresponding height under the drive of the first lifting mechanism, the rotary shovel disc mechanism can move along the Y axis under the drive of the first horizontal sliding mechanism so as to be in butt joint with the pipe picking equipment to transfer the freezing box, the rotary shovel disc mechanism can rotate and stretch to move, so that the freezing box can be received and transferred along the X axis and the Y axis, and the horizontal transferring mechanism transfers the freezing box between the pipe picking equipment and the code scanning device; through the arrangement mode, the first horizontal sliding mechanism, the rotary shovel disc mechanism and the horizontal transfer mechanism share one lifting mechanism, so that the height of the first horizontal sliding mechanism, the rotary shovel disc mechanism and the horizontal transfer mechanism can be adjusted, the mechanisms are more compact, the volume of the first freezing storage box receiving and transferring device is reduced, and the cost is saved; second, the rotatory shovel dish mechanism realizes the receipt and the transfer of the cryopreservation box in two directions, and it uses more convenient.

The code scanning device and the horizontal transfer mechanism are distributed at intervals, the horizontal transfer mechanism can be driven by the first lifting mechanism to move to the same height as the code scanning device, the horizontal transfer mechanism and the code scanning device are arranged opposite to each other, and the freezing storage box can be conveniently transferred by abutting the horizontal transfer mechanism and the code scanning device; and such an arrangement reduces the volume of the picking and piping system.

Still further, rotatory shovel dish mechanism includes fourth installed part, fifth installed part, rotary mechanism, telescopic machanism and shovel dish spare, and rotary mechanism can drive telescopic machanism and shovel dish spare rotation, thereby changes the butt joint direction of shovel dish spare, thereby telescopic machanism can drive shovel dish spare and flexible butt joint is received and is shifted the cryopreserved box, and like this setting mode, its simple structure, convenient equipment is used, small, occupation space is little.

Still further, choosing the pipe equipment includes second horizontal slip mechanism, frozen box fixed establishment and choosing the pipe device, second horizontal slip mechanism can drive frozen box fixed establishment and remove along the X axle, so that frozen box fixed establishment and rotatory shovel dish mechanism are received and are transferred frozen box, dock with horizontal transfer mechanism and receive and transfer frozen box and pass through horizontal transfer mechanism and transfer frozen box and sweep the sign indicating number on the sign indicating number device, and can dock with choosing the pipe device so that choosing the pipe device and choosing the pipe, such setting mode, with second horizontal slip mechanism through carrying frozen box fixed establishment along the Y axle, the position of frozen box fixed establishment is changed, the complexity of equipment is reduced, and can improve automatic beat that shifts, it sweeps sign indicating number and frozen box transportation's efficiency to improve choosing the pipe, more convenient application.

Still further, the tube picking device comprises a first connecting piece, a second lifting mechanism, a second connecting piece, a third horizontal sliding mechanism and a tube picking clamping jaw, wherein the second lifting mechanism can drive the tube picking clamping jaw to move along a Z axis so as to change the height of the tube picking clamping jaw, the third horizontal sliding mechanism can drive the tube picking clamping jaw to move along a Y axis so as to change the position corresponding to the tube picking clamping jaw in the Y axis direction, and the second horizontal sliding mechanism is matched with the tube picking clamping jaw to drive the freezing box fixing mechanism to move along an X axis, so that the tube picking clamping jaw can correspond to different freezing tubes in the freezing box, and the tube can be picked smoothly; by the arrangement mode, the tube picking device saves an X-axis driving mechanism, reduces cost and reduces the volume of the tube picking device.

Still further, the tube picking device further comprises a tube jacking device for jacking up the frozen tube upwards so that the tube picking device can smoothly carry out tube picking operation.

Still further, push bench includes third connecting piece, third elevating system and push bench, and the third connecting piece is connected with choosing the pipe clamp claw to make push bench and choosing pipe clamp claw sharing a elevating system and a moving mechanism on the Y axle, such setting mode has reduced push bench's complexity, is favorable to reduce cost and reduces the volume of choosing the pipe equipment, and in addition, choosing pipe clamp claw and push bench synchronous operation, can improve two complex precision, more convenient application.

In addition, the biological sample storage warehouse comprises a box body, a second freezing storage box receiving and transferring device and the picking pipe system, wherein the box body is internally provided with a picking pipe and a storage room which are communicated, and the freezing storage box is transferred between the first freezing storage box receiving and transferring device and the storage room through the second freezing storage box receiving and transferring device, so that automatic access of the freezing storage box is realized; in addition, the volume of choosing the pipe system is little, can reduce the interior duty cycle of choosing between the pipe of box to be favorable to improving the storage utilization ratio in the box.

Further, the second cryopreservation box receiving and transferring device comprises a first supporting piece, a fourth horizontal sliding mechanism, a second supporting piece and a box carrying piece, wherein the first cryopreservation box receiving and transferring device can be in butt joint with the box carrying piece to receive and transfer the cryopreservation box, and the fourth horizontal sliding mechanism can drive the box carrying piece to move along the Y axis, so that the cryopreservation box is transferred between the picking pipe and the storage room, and the second cryopreservation box receiving and transferring device is simple in structure and convenient to assemble and use.

Drawings

Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

FIG. 1 is a schematic perspective view of a pick-up system of the present invention;

fig. 2 is a schematic perspective view of a first receiving and transferring device for a freezing storage box according to the present invention;

Fig. 3 is a schematic perspective view of a first receiving and transferring device of a first freezing storage box according to the present invention;

FIG. 4 is a front view of the first horizontal slide mechanism of the present invention coupled to a rotating shovel disk mechanism;

FIG. 5 is a cross-sectional view taken in the direction B-B of FIG. 4;

FIG. 6 is a schematic perspective view of the pipe picking device and the code scanning device connected with the base;

FIG. 7 is an enlarged schematic view of the structure at A in FIG. 6;

FIG. 8 is a schematic perspective view of the connection between the pipe picking device and the pipe jacking device;

FIG. 9 is a schematic diagram showing a second perspective structure of the connection between the pipe picking device and the pipe jacking device;

FIG. 10 is a schematic perspective view of a biological sample storage library of the present invention with a hidden portion of the housing;

FIG. 11 is a schematic perspective view of a second embodiment of the invention in which the second container receiving and transferring device is connected to the picking and pipe system;

fig. 12 is a schematic perspective view of a second freezing box receiving and transferring device according to the present invention;

fig. 13 is an enlarged schematic view of the structure at B in fig. 12.

List of reference numerals：

1. A pipe picking system;

11. a base;

12. the first freezing storage box receives the transfer device; 121. a first mounting member; 122. a first lifting mechanism; 1221. a first driving member; 1222. a first screw rod; 1223. a first screw rod sliding block; 1224. a first guide assembly; 123. a second mounting member; 124. a first horizontal sliding mechanism; 1241. a second driving member; 1242. a first drive gear; 1243. a first linear rack; 1244. a first rail assembly; 12441. a first spacing rail; 12442. the first limiting slide block; 125. a third mount; 126. a rotary shovel disk mechanism; 1261. a fourth mount; 1262. a fifth mount; 1263. a rotation mechanism; 1264. a telescoping mechanism; 1265. a shovel disk member; 127. a horizontal transfer mechanism; 1271. a sixth mounting member; 1272. a seventh mount; 1273. a fifth driving member; 1274. a second drive gear; 1275. a second linear rack; 1276. a second rail assembly; 12761. a second spacing rail; 12762. the second limit sliding block; 1277. a shovel plate;

13. Tube picking equipment; 131. a second horizontal sliding mechanism; 1311. a sixth driving member; 1312. a second screw rod; 1313. a second screw rod sliding block; 1314. a second guide assembly; 13141. a second guide bar; 13142. a second guide ring; 132. a freezing storage box fixing mechanism; 1321. a first support base; 1322. a first cassette stage; 133. a tube picking device; 1331. a first connector; 1332. a second lifting mechanism; 1333. a second connector; 1334. a third horizontal sliding mechanism; 1335. picking a pipe clamping jaw; 134. a pipe jacking device; 1341. a third connecting member; 1342. a third lifting mechanism; 1343. a top pipe fitting;

14. a code scanning device; 141. a second support base; 142. the first code scanning camera; 143. the second code scanning camera; 144. a second cassette stage;

2. a case; 21. the tube picking room; 22. a storage room;

3. the second freezing storage box receives the transfer device; 31. a first support; 32. a fourth horizontal sliding mechanism; 33. a second support; 34. and a box carrying piece.

Detailed Description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.

It should be noted that, in the description of the present invention, terms such as "upper," "lower," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through other members. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.

Based on the problems that the prior pipe picking system pointed out in the background art is large in size and inconvenient to assemble and use. The pipe picking system comprises a base, a first freezing box receiving and transferring device, pipe picking equipment and a code scanning device, wherein the first freezing box receiving and transferring device, the pipe picking equipment and the code scanning device are arranged on the base, the first freezing box receiving and transferring device can receive and transfer freezing boxes along an X axis and a Y axis, and the first freezing box receiving and transferring device can be respectively abutted with the pipe picking equipment and the code scanning device so as to smoothly complete the transferring operation of the freezing boxes; the arrangement mode enables the first freezing box receiving and transferring device to be in butt joint with two perpendicular directions for receiving and transferring the freezing boxes, is more convenient to apply, simplifies the quantity of transferring devices for conveying the freezing boxes in the picking pipe system, enables each device to be more compact in arrangement, reduces the volume of the picking pipe system, and is convenient to assemble and use; in addition, the first cryopreservation box receiving and transferring device can be in butt joint with the X axis and the Y axis, so that the conveying requirements of the cryopreservation boxes in different directions can be met, and the application is more convenient.

The X axis and the Y axis in the concrete description of the invention are two perpendicular directions on the horizontal plane, and the Z axis is the vertical direction.

Specifically, referring to fig. 1, a picking and tube system 1 of the present invention includes a base 11, a first freezing box receiving and transferring device 12 mounted on the base 11, a picking and tube device 13, and a code scanning device 14. The base 11 is used for installing the first freezing storage box receiving and transferring device 12, the tube picking device 13 and the code scanning device 14, so that the tube picking system 1 can be conveniently installed in a corresponding storage warehouse. Illustratively, the base 11 may be a support plate with support feet. In addition, the base 11 may be provided as a support frame.

Wherein, the first cryopreservation box receiving and transferring device 12 is arranged to be capable of receiving and transferring the cryopreservation boxes along the Y axis and the X axis, and the first cryopreservation box receiving and transferring device 12 is capable of being respectively in butt joint with the picking pipe equipment 13 and the code scanning device 14. The first freezing box receiving and transferring device 12 can receive and transfer freezing boxes along the Y axis and the X axis, so that the first freezing box receiving and transferring device 12 can be used for receiving and transferring the freezing boxes in a butt joint mode in two perpendicular directions, the application is more convenient, one transferring device can realize the conveying in two directions, the quantity of transferring devices for partially conveying the freezing boxes is reduced, the size of the picking pipe system 1 is reduced, and the assembly and the use are convenient; in addition, the first cryopreservation box receiving and transferring device 12 can be in butt joint with the tube picking device 13 and the code scanning device 14 so as to realize code scanning and tube picking operation.

The tube picking apparatus 13 is provided so as to be capable of interfacing with the first freezing box receiving and transferring device 12 to receive the freezing box and to be capable of performing a tube picking operation. The tube picking device 13 is used for performing tube picking operation, transferring the frozen storage tubes from one frozen storage box to another frozen storage box so as to realize the output of specific frozen storage tubes/single tubes/multiple tubes and conveniently manage scattered frozen storage tubes so as to realize the storage of the whole box, thereby improving the storage utilization rate.

The code scanning device 14 can be docked with the first cryopreservation cassette receiving and transferring device 12 to receive the cryopreservation cassettes, and can scan the cassette codes of the received cryopreservation cassettes and the tube codes of the cryopreservation tubes in the cryopreservation cassettes. The first cryopreservation cassette receiving and transferring device 12 can transfer the cryopreservation cassettes to the code scanning device 14, so that the code scanning device 14 scans the code of the cryopreservation cassettes and the tube code of the cryopreservation tubes in the cryopreservation cassettes, so that the accessed cryopreservation cassettes and the accessed cryopreservation tubes can be managed.

Preferably, referring next to fig. 2-5, the first freezer-to-container receiving and transporting device 12 includes a first mounting member 121, and a first lifting mechanism 122, a second mounting member 123, a first horizontal sliding mechanism 124, a third mounting member 125, a rotating shovel disk mechanism 126, and a horizontal transfer mechanism 127 mounted on the first mounting member 121.

Wherein, first installed part 121 is installed on base 11, second installed part 123 is connected with first elevating system 122, first horizontal sliding mechanism 124 and horizontal transfer mechanism 127 are installed on second installed part 123, and first horizontal sliding mechanism 124 and horizontal transfer mechanism 127 are along X axle interval distribution, first horizontal sliding mechanism 124 and horizontal transfer mechanism 127 are located the both sides of first installed part 121 respectively, third installed part 125 is connected with first horizontal sliding mechanism 124, rotatory shovel dish mechanism 126 is installed on third installed part 125. Through such setting, the rational distribution space makes cooperation linkage between each mechanism to do not influence each other, help reducing the volume of whole device.

The first lifting mechanism 122 is configured to drive the second mounting member 123, the first horizontal sliding mechanism 124, the horizontal transfer mechanism 127, the third mounting member 125, and the rotary blade mechanism 126 to move along the Z-axis. The first horizontal sliding mechanism 124, the horizontal transferring mechanism 127 and the rotary shovel disk mechanism 126 share one lifting mechanism to adjust the height thereof, so that the cost is effectively saved, and the assembly and the use are convenient.

The first horizontal sliding mechanism 124 is configured to drive the third mounting member 125 and the rotary shovel disk mechanism 126 to move along the Y axis, so that the rotary shovel disk mechanism 126 can dock with the tube picking apparatus 13 to transfer the freezing box. The first horizontal sliding mechanism 124 can drive the rotary shovel disk mechanism 126 to move along the Y axis, so that the position of the rotary shovel disk mechanism 126 on the Y axis can be changed, and the rotary shovel disk mechanism can be better abutted with the pipe picking device 13 to transfer the freezing box, and is more convenient to use.

The rotary blade mechanism 126 is configured to be capable of rotating circumferentially about a vertical axis and to be capable of telescoping movement along its length to receive and transfer the cryopreservation cassette. The rotary shovel disk mechanism 126 can rotate and move in a telescopic manner, and can be abutted against different directions, so that the freezing box can be received and transferred in different directions, the convenience of use is improved, and various requirements can be met.

The horizontal transfer mechanism 127 is provided so as to be able to receive and transfer the cryopreservation cassette along the Y axis and to be able to transfer the cryopreservation cassette between the tube picking apparatus 13 and the code scanning means 14. The horizontal transfer mechanism 127 can transfer the freezing box between the picking pipe device 13 and the code scanning device 14, so that the freezing box is conveniently scanned before and after the picking pipe, and the freezing box and the freezing pipe are conveniently managed.

By means of the arrangement mode, the first freezing storage box receiving and transferring device 12 is more compact in structure, the size is reduced, and the cost is saved.

Preferably, with continued reference to FIG. 2, the first lift mechanism 122 includes a first drive 1221 (e.g., a servo motor or stepper motor), a first lead screw 1222, a first lead screw slider 1223, and a first guide assembly 1224.

The first driving member 1221 and the first screw rod 1222 are both installed on the first installation member 121, the first screw rod 1222 extends in a vertical direction, the second installation member 123 is connected with the first screw rod slider 1223, the first screw rod slider 1223 is sleeved on the first screw rod 1222 and is in threaded connection with the first screw rod 1222, and the first driving member 1221 is connected with the first screw rod 1222 and can drive the first screw rod 1222 to rotate, so that the first screw rod slider 1223 and the second installation member 123 are driven to move along the Z axis.

The first guide assembly 1224 is located between the first lead screw slider 1223 and the first mounting member 121, and the first guide assembly 1224 is capable of guiding the first lead screw slider 1223 during movement of the first lead screw slider 1223 along the Z-axis to enable linear movement of the first lead screw slider 1223 and to prevent rotation of the first lead screw slider 1223.

In operation, the first drive member 1221 drives the first lead screw 1222 to rotate, and the first lead screw slider 1223 moves along the Z-axis with the second mount under the guidance of the first guide assembly 1224, thereby enabling adjustment of the heights of the first horizontal slide mechanism 124, the rotary shovel disk mechanism 126, and the horizontal transfer mechanism 127. The whole structure is simple, the assembly and the use are convenient, and the first lifting mechanism 122 is arranged in a driving mode that a driving piece is matched with a screw rod and a screw rod sliding block, and compared with a driving mode that the driving piece is matched with a gear and a rack, the stability is better.

Although in the above embodiment, the first lifting mechanism 122 is set to a driving form in which the first driving member 1221 drives the first screw rod 1222 to rotate so as to drive the first screw rod slider 1223 to move, this should not limit the scope of the present invention, and in practical applications, those skilled in the art may set the first lifting mechanism 122 to other driving forms. For example: the first elevating mechanism 122 may be provided in a driving form in which the first driving member 1221 drives the gear to rotate, thereby driving the rack to move. Such modifications and changes in the specific structure of the first lifting mechanism 122 do not depart from the basic principle of the present invention and are intended to be within the scope of the present invention. Of course, the first lifting mechanism 122 is preferably set in a driving mode that the first driving piece 1221 drives the first screw mandrel 1222 to rotate so as to drive the first screw mandrel block 1223 to move, so that the lifting movement process is more stable and the driving force is stronger.

Preferably, the first guide assembly 1224 includes a first guide rod and a first guide ring sleeved on the first guide rod, where the first guide rod is installed on the first installation member 121 and extends along the Z axis, and the first guide ring can move along the first guide rod, and is connected with the first screw slider 1223.

In other embodiments, the first guide assembly 1224 may also include a guide rail mounted on the first mounting member 121 and disposed along the Z-axis in a diffraction manner, and a guide slider coupled to the first lead screw slider 1223, the guide slider being capable of sliding along the guide rail.

It should be noted that, the specific structure of the first guide assembly 1224 is not limited in the present invention, and in practical application, a person skilled in the art may set the specific structure of the first guide assembly 1224 according to the actual needs, so long as the first guide assembly 1224 can guide the first lead screw slider 1223 so that the first lead screw slider 1223 moves linearly. The specific implementation of the first guide assembly 1224 described above should not be construed as limiting the scope of the present invention. Of course, the first guide assembly 1224 is preferably configured as a first guide rod and a first guide ring, and can be assembled with the first screw 1222 at the same time, so that the structural stability is better.

Preferably, the number of the first guide assemblies 1224 is two, and located at both sides of the first screw 1222, respectively.

The two first guide assemblies 1224 are respectively located at two sides of the first screw mandrel 1222, so that the guide effect is better, the limiting effect is better, and the first screw mandrel slider 1223 can be effectively prevented from rotating relative to the first mounting piece 121.

Preferably, referring next to fig. 4 and 5, the first horizontal sliding mechanism 124 includes a second driving member 1241 (e.g., a servo motor or a stepper motor), a first driving gear 1242, a first linear rack 1243 and a first rail assembly 1244.

The first linear rack 1243 is mounted on the second mounting member 123 and extends along the Y axis, the second driving member 1241 is mounted on the third mounting member 125, the second driving member 1241 is connected with the first driving gear 1242 and can drive the first driving gear 1242 to rotate, the first driving gear 1242 is meshed with the first linear rack 1243, and the first driving gear 1242 can drive the third mounting member 125 and the second driving member 1241 to move along the Y axis relative to the first linear rack 1243 when rotating.

The first rail assembly 1244 is disposed between the second mounting member 123 and the third mounting member 125, and the first rail assembly 1244 can guide the third mounting member 125 during movement of the third mounting member 125 relative to the second mounting member 123 to move the third mounting member 125 linearly and can maintain the first drive gear 1242 in engagement with the first linear rack 1243.

In actual operation, the second driving member 1241 drives the first driving gear 1242 to rotate, so that the first driving gear 1242 and the first linear rack 1243 move relatively, and the third mounting member 125, the second driving member 1241, the first driving gear 1242 and the rotary shovel mechanism 126 can move along the Y axis. The first rail assembly 1244 guides the third mounting member 125 to move the third mounting member 125 straight, thereby stabilizing the third mounting member during movement.

Preferably, with continued reference to fig. 5, the first rail assembly 1244 includes a first rail stop 12441 and a first rail stop 12442, the first rail stop 12441 is mounted on the second mounting member 123 and extends along the Y-axis, the first rail stop 12442 is slidably coupled to the first rail stop 12441 and movable along the length of the first rail stop 12441, and the first rail stop 12442 is coupled to the third mounting member 125.

The first limit rail 12441 is provided with a first limit structure (for example, a limit chute or a limit protrusion), and the first limit slider 12442 is provided with a second limit structure (for example, a limit protrusion matched with the limit chute or a limit chute matched with the limit protrusion), and the first limit structure and the second limit structure are matched to limit the movement of the first limit slider 12442 relative to the first limit rail 12441 in the width direction and the thickness direction of the first limit rail 12441. When the second and third mounting pieces 123 and 125 are vertically disposed, the second and third mounting pieces 123 and 125 can be kept relatively stable.

The first guide rail assembly 1244 is provided as the first limiting guide rail 12441 and the first limiting slider 12442, and has a simple structure, convenient assembly and use, good guiding and limiting effects, and can enable the first horizontal sliding mechanism 124 to operate normally.

Although the first rail assembly 1244 is provided as the first rail 12441 and the first rail block 12442 in the above embodiment, this should not limit the scope of the present invention, and those skilled in the art may also provide other structures to the first rail assembly 1244 in practical applications. For example, the first rail assembly 1244 may be configured as a guide rod mounted on the second mounting member 123 and extending along the Y-axis, and a guide slip ring sleeved on the guide rod, the guide slip ring being connected to the third mounting member 125 and being slidable along the guide rod. Such modifications and changes in the specific structure of the first rail assembly 1244 do not depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Preferably, with continued reference to fig. 5, rotary shovel disk mechanism 126 includes a fourth mount 1261 and a fifth mount 1262, rotary mechanism 1263, telescoping mechanism 1264, and shovel disk member 1265 mounted on fourth mount 1261.

Wherein, fourth mounting piece 1261 is installed on third mounting piece 125, and fifth mounting piece 1262 is connected with fourth mounting piece 1261 through rotary mechanism 1263, and telescopic machanism 1264 and shovel disk piece 1265 are installed on fifth mounting piece 1262, and rotary mechanism 1263 sets up to this can drive fifth mounting piece 1262, telescopic machanism 1264 and shovel disk piece 1265 and rotate around vertical axis, and telescopic machanism 1264 sets up to can drive shovel disk piece 1265 and stretch out and draw back along the length direction of fifth mounting piece 1262.

In actual operation, rotary mechanism 1263 drives fifth mounting piece 1262, telescopic mechanism 1264 and shovel disk 1265 to rotate to change shovel disk 1265's butt joint direction, telescopic mechanism 1264 drives shovel disk 1265 and stretches out and draws back, and cooperates first elevating system 122 to drive rotatory shovel disk mechanism 126 to rise and fall, can dock and receive and shift the cryopreserved box. The whole structure is compact, the volume is small and the assembly and the use are convenient.

Preferably, the rotation mechanism 1263 includes a third drive (e.g., a servo motor or stepper motor), a drive gear, and a driven gear.

The driven gear is fixedly connected with the fifth mounting piece 1262 and is rotationally connected with the fourth mounting piece 1261 through a bearing, the third driving piece is mounted on the fourth mounting piece 1261 and is connected with the driving gear and can drive the driving gear to rotate, the driving gear is meshed with the driven gear and connected, and the driving gear can drive the driven gear and the fifth mounting piece 1262 to rotate when rotating.

The rotating mechanism 1263 is set to be a third driving piece, a driving gear and a driven gear, and drives the fifth mounting piece 1262 to rotate through gear transmission, so that the driving is reliable, the structure is simple, and the assembly and the use are convenient.

Preferably, telescoping mechanism 1264 includes a fourth drive (e.g., a servo motor or stepper motor), a drive assembly (e.g., a rack and pinion drive assembly or a link and pinion drive assembly), a linear guide, and a guide slide.

The fourth driving piece is installed on the fifth installation piece 1262, the fourth driving piece is connected with the guide rail sliding block through the transmission component, the linear guide rail is installed on the fifth installation piece 1262 and extends along the length direction of the fifth installation piece 1262, the guide rail sliding block is in sliding connection with the linear guide rail and can slide along the length direction of the linear guide rail, the shovel disk piece 1265 is installed on the guide rail sliding block, the fourth driving piece is connected with the transmission component and can drive the guide rail sliding block and the shovel disk piece 1265 to slide along the length direction of the linear guide rail through the transmission component, and therefore the shovel disk piece 1265 stretches.

The telescopic mechanism 1264 is provided with a fourth driving piece, a transmission assembly, a linear guide rail and a guide rail sliding block, the structure is simple, the assembly and the use are convenient, and the guide limiting position of the linear guide rail and the guide rail sliding block can enable the shovel disk 1265 to linearly telescopic move, so that the control is more convenient.

Preferably, referring to fig. 1, the code scanning device 14 and the horizontal transferring mechanism 127 are spaced apart along the Y-axis, and the first lifting mechanism 122 drives the horizontal transferring mechanism 127 to move to the same height as the code scanning device 14, and the horizontal transferring mechanism 127 is disposed opposite to the code scanning device 14 so as to be abutted with the code scanning device 14 to place the frozen storage box on the code scanning device 14.

The code scanning device 14 is arranged on one side of the horizontal transfer mechanism 127 so that the two are in butt joint, thereby being convenient to apply and saving space.

Preferably, referring to fig. 7, the code scanning device 14 includes a second support base 141, and a first code scanning camera 142, a second code scanning camera 143 and a second box loading platform 144 disposed on the second support base 141, where the second box loading platform 144 is capable of placing a frozen box; the first code scanning camera 142 is horizontally arranged along the Y axis, and can scan the code of the frozen storage box on the second box carrying table 144, the second code scanning camera 143 is vertically arranged along the Z axis, and can scan the code of the frozen storage tube in the frozen storage box on the second box carrying table 144.

The code scanning device 14 is arranged as a second supporting seat 141, a first code scanning camera 142, a second code scanning camera 143 and a second box carrying table 144, and has simple structure and convenient assembly and use.

Preferably, referring next to FIGS. 2 and 3, horizontal transfer mechanism 127 includes a sixth mount 1271, a seventh mount 1272, a fifth drive 1273 (e.g., a servo motor or stepper motor), a second drive gear 1274, a second linear rack 1275, a second rail assembly 1276, and a blade 1277.

The sixth mounting member 1271 is connected to the second mounting member 123, the seventh mounting member 1272 is connected to the sixth mounting member 1271 through the second guide rail assembly 1276, the fifth driving member 1273 is mounted on the sixth mounting member 1271, the second linear rack 1275 is mounted on the seventh mounting member 1272 and extends along the Y axis, the shovel plate 1277 is mounted at an end portion of the seventh mounting member 1272, which is close to the code scanning device 14, along the Y axis, the fifth driving member 1273 is connected to the second driving gear 1274 and is capable of driving the second driving gear 1274 to rotate, the second driving gear 1274 is in meshed connection with the second linear rack 1275, and the second driving gear 1274 can drive the second linear rack 1275, the seventh mounting member 1272 and the shovel plate 1277 to move along the Y axis relative to the sixth mounting member 1271 when the second driving gear 1274 rotates.

The second rail assembly 1276 is capable of guiding the seventh mount 1272 during movement of the seventh mount 1272 relative to the sixth mount 1271 to move the seventh mount 1272 linearly and to maintain the second drive gear 1274 in engagement with the second linear rack 1275.

In actual operation, the fifth driving member 1273 drives the second driving gear 1274 to rotate, so that the second driving gear 1274 and the second linear rack 1275 relatively move, and the seventh mounting member 1272, the second linear rack 1275 and the shovel plate 1277 move along the Y axis relative to the sixth mounting member 1271 under the guiding and limiting function of the second guide rail assembly 1276.

Preferably, with continued reference to fig. 3, the second rail assembly 1276 includes a second limit rail 12761 and a second limit slider 12762, the second limit rail 12761 being mounted on the sixth mount 1271 and extending along the Y-axis, the second limit slider 12762 being slidably coupled to the second limit rail 12761 and being movable along the length of the second limit rail 12761, the second limit slider 12762 being coupled to the seventh mount 1272.

The second limit rail 12761 is provided with a third limit structure (for example, a limit chute or a limit protrusion), the second limit slider 12762 is provided with a fourth limit structure (for example, a limit protrusion matched with the limit chute or a limit chute matched with the limit protrusion), and the movement of the second limit slider 12762 relative to the second limit rail 12761 in the width direction and the thickness direction of the second limit rail 12761 can be limited by the third limit structure and the fourth limit structure.

The second guide rail assembly 1276 is provided with the second limit guide rail 12761 and the second limit slide block 12762, and has simple structure, convenient assembly and use and good guiding and limit effects.

Although in the above embodiment, the second rail assembly 1276 is provided as the second limit rail 12761 and the second limit slider 12762, this should not limit the scope of the present invention, and in practical applications, those skilled in the art may also provide the second rail assembly 1276 with other structures. For example, the second rail assembly 1276 may be configured as a guide bar mounted on the sixth mounting member 1271 and extending along the Y-axis, and a guide slip ring fitted over the guide bar, the guide slip ring being connected to the seventh mounting member 1272 and being slidable along the guide bar. Such modifications and changes in the specific structure of the second rail assembly 1276 do not depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Preferably, referring to fig. 6 and 7, the tube picking device 13 includes a second horizontal sliding mechanism 131, a freezing box fixing mechanism 132 and a tube picking device 133, where the first freezing box receiving and transferring device 12, the second horizontal sliding mechanism 131 and the code scanning device 14 are sequentially arranged along the Y axis, and the tube picking device 133 and the code scanning device 14 are distributed at intervals along the X axis, and the freezing box fixing mechanism 132 can fix two freezing boxes at the same time.

Wherein the second horizontal sliding mechanism 131 and the tube picking device 133 are mounted on the base 11, and the freezing box fixing mechanism 132 is mounted on the second horizontal sliding mechanism 131; the second horizontal sliding mechanism 131 is configured to drive the freezing box fixing mechanism 132 to move along the X axis, so that the freezing box fixing mechanism 132 moves between the first box receiving position, the second box receiving position and the tube picking position; the cryopreservation cassette securing mechanism 132 is capable of interfacing with the rotating shovel disk mechanism 126 at a first cassette receiving position and with the horizontal transfer mechanism 127 at a second cassette receiving position to receive and transfer the cryopreservation cassettes; the tube picking device 133 is configured to be able to perform a tube picking operation on the freezing box located on the freezing box fixing mechanism 132 at the tube picking position.

Through such setting, can save space, reduce the complexity of equipment to second horizontal sliding mechanism 131 drives and freezes and deposits box fixed establishment 132 and remove along the X axle, can make and freeze and deposit box fixed establishment 132 and connect box position, second and connect the box position and pick between the pipe position, can jump the beat that automatic was shifted, thereby improve and pick the pipe, sweep the sign indicating number and freeze the efficiency that the box was transported, more convenient application.

Preferably, with continued reference to FIG. 7, the second horizontal sliding mechanism 131 includes a sixth driver 1311 (e.g., a servo motor or stepper motor), a second screw 1312, a second screw slider 1313, and a second guide assembly 1314.

The fifth driving piece 1273 and the second screw rod 1312 are installed on the base 11, the second screw rod 1312 is arranged in an extending mode along the X axis, the freezing box fixing mechanism 132 is connected with the second screw rod slide block 1313, the second screw rod slide block 1313 is sleeved on the second screw rod 1312 and is in threaded connection with the second screw rod 1312, and the fifth driving piece 1273 is connected with the second screw rod 1312 and can drive the second screw rod 1312 to rotate, so that the second screw rod slide block 1313 and the freezing box fixing mechanism 132 are driven to move along the X axis; the second guiding assembly 1314 is disposed between the base 11 and the second screw slider 1313, and the second guiding assembly 1314 can guide the second screw slider 1313 during the movement of the second screw slider 1313 along the X-axis, so as to make the second screw slider 1313 move linearly and prevent the second screw slider 1313 from rotating.

The second horizontal sliding mechanism 131 is provided as a sixth driving member 1311, a second screw 1312, a second screw slider 1313 and a second guide assembly 1314, which has a simple structure and is convenient to assemble and use.

Preferably, with continued reference to fig. 7, the second guide assembly 1314 includes a second guide rod 13141 and a second guide ring 13142 sleeved on the second guide rod 13141, the second guide rod 13141 is mounted on the base 11 and extends along the X-axis, the second guide ring 13142 is capable of moving along the second guide rod 13141, and the second guide ring 13142 is connected to the second screw slider 1313.

In other embodiments, the second guide assembly 1314 includes a guide rail mounted on the base 11 and extending along the X-axis, and a guide slider slidably disposed with the guide rail, the guide slider being coupled to the second lead screw slider 1313.

It should be noted that, the specific structure of the second guiding assembly 1314 is not limited in this invention, and in practical application, as long as the second guiding assembly 1314 can guide the second screw slider 1313 so that the second screw slider 1313 moves linearly, a person skilled in the art can set the specific structure of the second guiding assembly 1314 according to actual needs. The specific implementation of the second guide assembly 1314 in the above embodiment should not be construed as limiting the scope of the present invention.

Preferably, the number of the second guide assemblies 1314 is two, and they are respectively located at both sides of the second screw 1312.

The second guide components 1314 are respectively arranged on two sides of the second screw 1312, so that the second screw sliding block 1313 can be effectively prevented from rotating, and the guide and limit effects are improved.

Preferably, referring to the figure, the freezing box fixing mechanism 132 includes a first supporting seat 1321 and a first box carrying table 1322 mounted on the first supporting seat 1321, and two placing positions for placing the freezing boxes are arranged on the first box carrying table 1322 side by side along the X axis. The first supporting seat 1321 is used for supporting and installing the first box carrying table 1322, and the first box carrying table 1322 simultaneously places two freezing boxes so as to cooperate with the pipe picking device 133 to perform pipe picking operation.

Preferably, referring next to fig. 8 and 9, the tube picking device 133 includes a first connector 1331, a second lifting mechanism 1332, a second connector 1333, a third horizontal sliding mechanism 1334, and tube picking jaws 1335, wherein the tube picking jaws 1335 are capable of picking up a frozen tube.

Wherein, the first connecting piece 1331 is installed on the base 11, the second lifting mechanism 1332 is installed on the first connecting piece 1331, the second connecting piece 1333 is installed on the second lifting mechanism 1332, the third horizontal sliding mechanism 1334 is installed on the second connecting piece 1333, and the pipe picking clamp claw 1335 is installed on the third horizontal sliding mechanism 1334; the second lifting mechanism 1332 is configured to drive the second connecting piece 1333, the third horizontal sliding mechanism 1334 and the pipe picking clamp jaw 1335 to move along the Z axis relative to the first connecting piece 1331; the third horizontal sliding mechanism 1334 is configured to move the gripper bar 1335 relative to the second connector 1333 along the Y-axis.

By such arrangement, the tube picking device 133 is more compact, and the volume of the tube picking device 133 can be reduced.

It should be noted that, the specific structure of the second lifting mechanism 1332 is not limited in the present invention, as long as the second lifting mechanism 1332 can drive the second connecting piece 1333, the third horizontal sliding mechanism 1334 and the pipe picking gripper 1335 to move along the Z axis (vertical direction), and in practical application, a person skilled in the art can set the specific structure of the second lifting mechanism 1332 according to practical needs. For example, the second lifting mechanism 1332 may be configured in a manner that a motor drives a gear to rotate and is matched with a rack, or the second lifting mechanism 1332 may be configured in a manner that a motor drives a screw to rotate and thereby drives a screw slider to move, or the like. Such modifications and changes in the specific structure of the second lifting mechanism 1332 do not depart from the basic principles of the present invention and should be limited to the scope of the present invention.

It should be noted that, the specific structure of the third horizontal sliding mechanism 1334 is not limited in the present invention, as long as the third horizontal sliding mechanism 1334 can drive the pipe picking clamp claw 1335 to move along the Y axis, and in practical application, a person skilled in the art can set the specific structure of the third horizontal sliding mechanism 1334 according to actual needs. For example, the third horizontal sliding mechanism 1334 may be configured in such a manner that a motor drives a gear to rotate and cooperates with a rack; alternatively, the third horizontal sliding mechanism 1334 may be configured in a structure in which a motor drives the screw to rotate so as to drive the screw slider to move, and so on. Such modifications and changes in the specific structure of the third horizontal sliding mechanism 1334 do not depart from the basic principle of the present invention and are intended to be within the scope of the present invention.

Preferably, referring to fig. 6, the tube picking apparatus 13 further includes a tube pushing device 134, where the tube pushing device 134 is configured to push out the frozen tubes in the frozen boxes on the frozen box fixing mechanism 132 at the tube picking position, so that the tube picking device 133 picks the tubes smoothly.

A push pipe device 134 is provided for ejecting the freezing pipe upward so that the pipe gripping claws 1335 grip the freezing pipe smoothly.

Preferably, referring next to fig. 8 and 9, push bench 134 includes a third link 1341, a third lift mechanism 1342 and a push bench 1343.

The third connecting piece 1341 is connected with the pipe picking claw 1335, the third lifting mechanism 1342 is installed on the third connecting piece 1341, the pipe jacking piece 1343 is connected with the third lifting mechanism 1342, and the pipe jacking head of the pipe jacking piece 1343 is located below the pipe picking claw 1335 and is opposite to the pipe picking claw 1335; the third elevating mechanism 1342 is configured to drive the push bench 1343 to move along the Z-axis.

By the arrangement mode, the pipe jacking device 134 and the pipe picking claw 1335 share one lifting mechanism and one moving mechanism on the Y axis, the complexity of the pipe jacking device 134 is reduced, the cost is reduced, the size of the pipe picking equipment 13 is reduced, in addition, the pipe picking claw 1335 and the pipe jacking piece 1343 synchronously run in the horizontal direction, the matched progress of the pipe jacking claw 1335 and the pipe jacking piece 1343 can be improved, and the pipe jacking device is more convenient to use.

Although in the above embodiment, the push bench 134 is provided as the third link 1341, the third elevating mechanism 1342 and the push bench 1343, this should not limit the scope of the present invention. In practical applications, those skilled in the art may also set the push bench 134 in other configurations. For example, the push bench 134 may be configured as a third connection member 1341, and a Y-axis moving mechanism, a Z-axis moving mechanism, and a push bench 1343 mounted on the third connection member 1341, where the Y-axis moving mechanism can drive the Z-axis moving mechanism and the push bench 1343 to move along the Y-axis, and the Z-axis moving mechanism can drive the push bench 1343 to move along the Z-axis, so that the push bench 1343 ejects the frozen storage tube. Such modifications and changes in the specific structure of push bench 134 are not intended to depart from the basic principles of the present invention and are intended to be within the scope of the present invention.

Of course, the above-mentioned structure forms of the third connecting member 1341, the third lifting mechanism 1342 and the pipe jacking member 1343 are preferred to be used for arranging the pipe jacking device 134, and the third connecting member 1341 is connected with the pipe picking claw 1335, so that the cost is reduced, the volume of the pipe picking device 13 is reduced, and the application is more convenient.

It should be noted that, the specific structure of the third lifting mechanism 1342 is not limited in the present invention, as long as the third lifting mechanism 1342 can drive the jacking pipe 1343 to move along the Z axis (vertical direction), and in practical application, a person skilled in the art can set the specific structure of the third lifting mechanism 1342 according to actual needs. For example, the third elevating mechanism 1342 may be configured to rotate a motor-driven gear and cooperate with a rack, or the third elevating mechanism 1342 may be configured to rotate a screw driven by a motor to move a screw slider, or the like. Such modifications and changes in the specific structure of the third elevating mechanism 1342 do not depart from the basic principles of the present invention and should be made within the scope of the present invention.

Specifically, referring to fig. 10 and 11, the biological sample storage according to the present invention includes a case 2, a second freezing box receiving and transferring device 3, and the picking and managing system 1 described above.

Wherein, the box body 2 is internally provided with a tube picking room 21 and a storage room 22, and the tube picking room 21 is communicated with the storage room 22 and distributed along the Y axis. The tube picking room 21 is communicated with the storage room 22, so that the tube picking room 21 and the storage room 22 keep the same storage environment, the environment temperature is not changed in the tube picking process, and the activity of biological samples is ensured.

The second freezing box receiving and transferring device 3 and the picking tube system 1 are arranged in the picking tube 21, and the second freezing box receiving and transferring device 3 is arranged to transfer the freezing box between the first freezing box receiving and transferring device 12 and the storage room 22.

The second freezing box receiving and transferring device 3 is used for transferring the freezing box between the picking pipe 21 and the storage room 22 so as to be matched with the first freezing box receiving and transferring device 12 to realize automatic access of the freezing box and the freezing pipe.

Preferably, referring next to fig. 12 and 13, the second freezing box receiving and transferring device 3 comprises a first support 31 and a fourth horizontal sliding mechanism 32 mounted on the first support 31, a second support 33 and a box carrier 34; the carrier 34 is used to hold the cryopreservation cassette.

Wherein the second support member 33 is mounted on the fourth horizontal sliding mechanism 32, the box loading member 34 is mounted on the second support member 33, and the box loading member 34 is capable of carrying the cryopreservation box; the fourth horizontal sliding mechanism 32 is configured to drive the second support member 33 and the box carrying member 34 to move along the Y axis so as to transfer the frozen box between the picking tube 21 and the storage room 22, and the first frozen box transfer receiving device can be in butt joint with the box carrying member 34 to transfer the frozen box.

The arrangement mode is simple in structure and convenient to assemble and use.

Preferably, referring to the figure, the box-carrying member 34 and the horizontal transferring mechanism 127 are spaced apart along the Y-axis, and the first lifting mechanism 122 drives the horizontal transferring mechanism 127 to move to the same height as the box-carrying member 34, so that the horizontal transferring mechanism 127 is opposite to the box-carrying member 34, and the box-carrying member 34 is docked with the horizontal transferring mechanism 127, and the frozen box is placed on the box-carrying member 34 and the frozen box on the box-carrying member 34 is removed.

The box carrying member 34 is arranged on one side of the horizontal transfer mechanism 127, so that the box carrying member and the box carrying member are in butt joint for transferring the frozen box, and the box carrying member is convenient to use and saves space.

It should be noted that, the specific structure of the fourth horizontal sliding mechanism 32 is not limited in the present invention, as long as the fourth horizontal sliding mechanism 32 can drive the box-carrying member 34 to move along the Y axis, and in practical application, a person skilled in the art can set the specific structure of the fourth horizontal sliding mechanism 32 according to actual needs. For example, the fourth horizontal sliding mechanism 32 may be configured in such a manner that a motor drives a gear to rotate and cooperates with a rack; alternatively, the fourth horizontal sliding mechanism 32 may be configured such that a motor drives the screw to rotate, thereby driving the screw slider to move, and so on. Such modifications and changes in the specific structure of the fourth horizontal sliding mechanism 32 do not depart from the basic principle of the present invention, and are intended to be within the scope of the present invention.

In addition, the biological sample storage library of the present invention further comprises a refrigeration system for refrigerating the picking tube room 21 and the storage room 22, which may be a liquid nitrogen refrigeration system, an air cooling refrigeration system or other types of refrigeration systems in application, and the specific arrangement form and the related structure of the refrigeration system are not limited.

Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.

Claims

1. The pipe picking system is characterized by comprising a base, a first freezing box receiving and transferring device, pipe picking equipment and a code scanning device, wherein the first freezing box receiving and transferring device, the pipe picking equipment and the code scanning device are arranged on the base;

the first freezing box receiving and transferring device is arranged to be capable of receiving and transferring the freezing box along a Y axis and an X axis, and is capable of being respectively in butt joint with the pipe picking equipment and the code scanning device;

The tube picking device is arranged to be capable of being in butt joint with the first freezing box receiving and transferring device to receive the freezing box and conduct tube picking operation;

the code scanning device can be in butt joint with the first frozen storage box receiving and transferring device so as to receive frozen storage boxes, box codes of the frozen storage boxes which can be received in a scanning mode and pipe codes of frozen storage pipes in the frozen storage boxes.

2. The picking and tube system of claim 1, wherein the first cryopreservation cassette receiving and transfer device comprises a first mount, a first lifting mechanism mounted on the first mount, a second mount, a first horizontal sliding mechanism, a third mount, a rotary shovel disk mechanism, and a horizontal transfer mechanism;

the first mounting piece is arranged on the base, the second mounting piece is connected with the first lifting mechanism, the first horizontal sliding mechanism and the horizontal transferring mechanism are arranged on the second mounting piece, the first horizontal sliding mechanism and the horizontal transferring mechanism are distributed along the X axis at intervals, the third mounting piece is connected with the first horizontal sliding mechanism, the rotary shovel disc mechanism is arranged on the third mounting piece,

the first lifting mechanism is arranged to drive the second mounting piece, the first horizontal sliding mechanism, the horizontal transfer mechanism, the third mounting piece and the rotary shovel disk mechanism to move along a Z axis;

The first horizontal sliding mechanism is arranged to drive the third mounting piece and the rotary shovel disk mechanism to move along the Y axis, so that the rotary shovel disk mechanism can be in butt joint with the pipe picking device to transfer the freezing box;

the rotary shovel disc mechanism is arranged to be capable of rotating circumferentially around the vertical shaft and moving telescopically along the length direction of the rotary shovel disc mechanism so as to receive and transfer the freezing box;

the horizontal transfer mechanism is arranged to receive and transfer the frozen box along the Y axis and transfer the frozen box between the picking pipe equipment and the code scanning device.

3. The picking and managing system according to claim 2, wherein the code scanning device and the horizontal transferring mechanism are distributed at intervals along the Y axis, and the first lifting mechanism is arranged opposite to the code scanning device under the condition that the horizontal transferring mechanism is driven to move to the same height as the code scanning device.

4. The pipe picking system of claim 2 wherein the rotary shovel disk mechanism comprises a fourth mount and a fifth mount, a rotary mechanism, a telescoping mechanism, and a shovel disk member mounted on the fourth mount;

the fourth mounting piece is mounted on the third mounting piece, the fifth mounting piece is connected with the fourth mounting piece through the rotating mechanism, the telescopic mechanism and the shovel disk piece are mounted on the fifth mounting piece,

The rotating mechanism is arranged to drive the fifth mounting piece, the telescopic mechanism and the shovel disc piece to rotate around a vertical shaft,

the telescopic mechanism is arranged to drive the shovel disc part to stretch and retract along the length direction of the fifth installation part.

5. The tube picking system according to claim 2, wherein the tube picking device comprises a second horizontal sliding mechanism, a freezing box fixing mechanism and a tube picking device, the first freezing box receiving and transferring device, the second horizontal sliding mechanism and the code scanning device are sequentially arranged along a Y axis, the tube picking device and the code scanning device are distributed at intervals along an X axis, and the freezing box fixing mechanism can fix two freezing boxes at the same time;

the second horizontal sliding mechanism and the tube picking device are arranged on the base, and the freezing box fixing mechanism is arranged on the second horizontal sliding mechanism;

the second horizontal sliding mechanism is arranged to drive the freezing box fixing mechanism to move along the X axis so as to enable the freezing box fixing mechanism to move among a first box receiving position, a second box receiving position and a tube picking position;

the freezing box fixing mechanism can be in butt joint with the rotary shovel disc mechanism at the first box connecting position and can be in butt joint with the horizontal transferring mechanism at the second box connecting position so as to receive and transfer the freezing box;

The tube picking device is arranged to be capable of picking the frozen box on the frozen box fixing mechanism at the tube picking position.

6. The tube picking system of claim 5, wherein the tube picking device comprises a first connector, a second lifting mechanism, a second connector, a third horizontal sliding mechanism, and a tube picking jaw;

the first connecting piece is arranged on the base, the second lifting mechanism is arranged on the first connecting piece, the second connecting piece is arranged on the second lifting mechanism, the third horizontal sliding mechanism is arranged on the second connecting piece, and the pipe picking clamp claw is arranged on the third horizontal sliding mechanism;

the second lifting mechanism is arranged to drive the second connecting piece, the third horizontal sliding mechanism and the pipe picking clamp claw to move along the Z axis relative to the first connecting piece,

the third horizontal sliding mechanism is arranged to drive the pipe picking clamp claw to move along the Y axis relative to the second connecting piece;

the tube picking clamping jaw can clamp the freezing tube.

7. The tube picking system of claim 6, wherein the tube picking apparatus further comprises a tube jacking device configured to eject frozen tubes in the frozen box on the frozen box fixing mechanism at the tube picking position so that the tube picking device picks tubes smoothly.

8. The pipe picking system of claim 7 wherein the pipe jacking arrangement comprises a third connection member, a third lifting mechanism and a pipe jacking member;

the third connecting piece with choosing pipe clamp claw is connected, third elevating system installs on the third connecting piece, the push pipe spare with third elevating system is connected, third elevating system sets up to can drive push pipe spare moves along the Z axle, the push pipe head of push pipe spare is located choosing pipe clamp claw's below and with choosing pipe clamp claw just to setting.

9. A biological sample storage library comprising a box, a second cryopreservation cassette receiving and transporting device and a picking and management system according to any one of claims 1 to 8;

the box body is internally provided with a picking pipe room and a storage room which are communicated and distributed along a Y axis;

the second cryopreservation box receiving and transferring device and the picking pipe system are arranged in the picking pipe, and the second cryopreservation box receiving and transferring device is arranged to transfer the cryopreservation boxes between the first cryopreservation box receiving and transferring device and the storage room.

10. The biological sample storage library of claim 9, wherein the second cryopreservation cassette receiving and transporting device comprises a first support and a fourth horizontal sliding mechanism mounted on the first support, a second support and a cassette carrier;

The second supporting piece is arranged on the fourth horizontal sliding mechanism, the box carrying piece is arranged on the second supporting piece, and the box carrying piece can carry the freezing box;

the fourth horizontal sliding mechanism is arranged to drive the second supporting piece and the box carrying piece to move along the Y axis so as to transfer the freezing box between the picking pipe and the storage room,

the first freezing box transferring and receiving device can be in butt joint with the box carrying piece to transfer the freezing box.