CN118062461A - Biological medicine sample catching and accessing system - Google Patents

Abstract

A biological medicine sample catching and accessing system comprises a sample bottle accessing mechanism, a sample bottle storage unit, an autonomous sealing mechanism, a gas transmission mechanism and a transition transfer mechanism, wherein the sample bottle accessing mechanism, the sample bottle storage unit, the autonomous sealing mechanism and the gas transmission mechanism are sequentially arranged from top to bottom; the sample bottle storing and taking mechanism comprises a bracket, a sample bottle transferring mechanism, a moving mechanism and a driving mechanism, wherein the sample bottle transferring mechanism comprises a sample bottle transferring bin, a sample bottle catching channel, a sample bottle warehousing channel, a sample bottle ex-warehouse channel and a sample bottle ex-warehouse channel, the sample bottle ex-warehouse channel is connected with a flexible connecting pipe, and the driving mechanism drives the flexible connecting pipe to be in butt joint with a sample bottle storage unit or drives a warehouse-in sample bottle channel or the sample bottle ex-warehouse channel to be in butt joint with the transition transferring mechanism. The parts form a closed sample bottle storage and access system in the required environment, and the system realizes the closed efficient storage, storage and batch rapid taking of samples in the ultralow temperature environment.

Description

Biological medicine sample catching and accessing system

Technical Field

The invention relates to a device for storing samples in the field of biological medicine, and belongs to the technical field of sample storage.

Background

Reasonable collection, analysis and preservation of the biopharmaceutical sample are important for the study of biopharmaceutical sustainability. Often, the test is not performed immediately after the sample is collected, repeated tests are required for some samples and repeated comparisons of test results are required for some samples as new techniques are developed for future tests.

Samples for pharmaceutical and medical research use stringent requirements for storage environments. The quality of the sample is mainly affected by the storage temperature, humidity and time, and especially the quality of the articles with severe storage environment is affected by small storage environment changes. Some samples are not easy to get, and once lost or deteriorated, irreparable losses are caused. Safe storage and management of samples is a major topic that is urgently needed to be addressed, especially the scientific management of samples in the laboratory is of great importance for rapid development and orderly operation of the whole laboratory.

Samples are generally stored in a frozen or refrigerated environment and are taken out of the frozen or refrigerated environment, in either case, the doors of the refrigerated environment (such as a refrigerator or a freezer) are required to be opened, and sometimes the doors are frequently opened, so that convection of the inside air and the outside air is caused, fluctuation and change of the refrigerated environment (such as temperature and humidity) are caused, and the stability of the storage environment is affected.

The quality of the stored samples is mainly affected by the storage temperature, humidity and time, especially for articles with severe storage environment requirements, and the quality is affected by small storage environment changes. Currently, conventional refrigerators or freezers are used for storage. The phenomena of repeated freezing, humidity fluctuation, change and the like exist in the storage process, so that the sample is extremely easy to fail; when in use, the 'turnover and cabinet-falling' search is also needed, and the sample is easy to miss; sample characterization, usage records also lack a unified specification.

CN102358485A publishes "a pneumatic conveying rotary sample warehouse", comprising a central shaft, a sample storage disk, a disk driving mechanism, a lifting device and an adsorption conveying device. Each sample storage disc is arranged on the central shaft in parallel, a sealing gasket is arranged between every two adjacent sample storage discs, sample nests and sample transmission channels are distributed on the sample storage discs, and each sample storage disc is connected with one set of disc driving mechanism. The lifting device is arranged below the bottommost sample storage disc and comprises a lifting air jet pipe and an air jet control valve. The adsorption conveying device is arranged above the topmost sample storage disc and comprises a combined air suction seat, an air suction pipe, an air suction control valve, a conveying pipe, a conveying control valve and a vacuum bin. The sample library stores samples in a closed storage environment, realizes automatic access of the samples by a pneumatic technology, and solves the problem of storing as many samples as possible in a limited space. However, the problem that the sample storage disk is high in manufacturing cost, and the central shaft and the sample storage disk cannot be matched with each other to adapt to the ultralow temperature environment exists, so that the sample storage disk cannot operate in the ultralow temperature environment.

Disclosure of Invention

Aiming at the defects of the existing sample storage technology, the invention provides a catching and accessing system which has large capacity and can quickly access biological samples in batches in an ultralow temperature environment.

The biological medicine sample catching and accessing system adopts the following technical proposal:

The system comprises a sample bottle storing and taking mechanism, a sample bottle storing unit, an autonomous sealing mechanism, a gas transmission mechanism and a transition transfer mechanism, wherein the sample bottle storing and taking mechanism, the sample bottle storing unit, the autonomous sealing mechanism and the gas transmission mechanism are sequentially arranged from top to bottom;

The sample bottle storing and taking mechanism comprises a bracket, a sample bottle transferring mechanism, a moving mechanism and a driving mechanism, wherein the moving mechanism and the driving mechanism are arranged on the bracket, the sample bottle transferring mechanism is connected to the moving mechanism, and the sample bottle transferring mechanism comprises a sample bottle transferring bin, a sample bottle catching channel, a sample bottle warehousing channel, a sample bottle ex-warehouse channel and a sample bottle warehouse-returning channel which are connected to the sample bottle transferring bin; the sample bottle delivery channel and the sample bottle return channel are both provided with vacuumizing ports (used for generating a negative pressure area through vacuumizing and sucking out the sample bottle from the sample bottle transfer bin), and the sample bottle return channel is connected with a flexible connecting pipe; the driving mechanism is at least provided with one set, and drives the flexible connecting pipe to be in butt joint with the sample bottle storage unit (particularly a storage pipe in the sample bottle storage unit), or drives the sample bottle channel entering the warehouse or the sample bottle channel leaving the warehouse to be in butt joint with the transition transfer mechanism (particularly a sample bottle transfer channel in the transition transfer mechanism).

Further:

the moving mechanism is two sets of screw nut pair moving mechanisms which are arranged on the bracket in parallel.

The sample bottle transfer bin is provided with the identification device, so that accurate identification can be realized on the two-dimensional code, the radio frequency card and other identifications on the sample bottle.

And control valves are arranged in the pipelines connected with the sample bottle warehouse-in channel, the sample bottle warehouse-out channel and the sample bottle warehouse-back channel.

The number of the sample bottle catching and grabbing channels is more than one. The efficiency can be improved by adopting the sample bottle catching channels with multi-channel arrangement.

The sample bottle transfer bin is T-shaped, and the bottom surface is an inclined surface. The bottom surface presents a certain inclination, so that the sample bottle can slide downwards at the inclined surface. The bottom surface of the sample bottle transfer bin is manufactured into a rectangular groove for collecting sample bottles, and a plurality of sample bottle inlets and outlets are uniformly distributed on the side surface. The sample bottle transfer bin is a rectangular groove, and two symmetrically installed recognition devices are arranged on two opposite side surfaces; and the other two opposite sides are respectively provided with a sample bottle warehouse-out channel, a warehouse-in sample bottle channel and a sample bottle warehouse-back channel, and the warehouse-in sample bottle channel and the sample bottle warehouse-back channel are arranged on the same side.

The driving mechanism comprises a main driving mechanism and an auxiliary driving mechanism, and the auxiliary driving mechanism is connected to the power output end of the main driving mechanism; the main driving mechanism adopts a screw-nut pair moving mechanism; the auxiliary driving mechanism adopts an electric telescopic gripper, and comprises an electric telescopic frame and a gripper, wherein the electric telescopic frame is connected to the power output end of the main driving mechanism, and the gripper is connected to the tail end of the electric telescopic frame.

The sample bottle storage unit adopts a bundling pipe structure and comprises a sealing box, a refrigerating medium exchange port is formed in the side wall of the sealing box, storage pipes are vertically distributed in the sealing box and are fixed through pipe plates at the upper end and the lower end of the sealing box, and the upper end and the lower end of each storage pipe are all open.

The sealing mechanism comprises a heat insulation frame, and an upper partition plate, a middle partition plate and a lower partition plate which are connected together from top to bottom in the heat insulation frame; the upper partition plate is provided with upper through holes, and ventilation grooves are carved on the inner walls of the upper through holes; round through holes are distributed on the middle partition plate, sealing balls are arranged in the round through holes, and the diameter of the round through holes is larger than that of the sealing balls; the lower partition plate is provided with lower through holes; the diameter of the sealing ball is smaller than the inner diameter of the round through hole and larger than the inner diameters of the upper through hole and the lower through hole, and the distribution mode of the upper through hole, the round through hole and the lower through hole is consistent with the distribution mode of the storage pipes in the sample bottle storage unit. An arc spherical surface can be arranged at the upper port of the lower through hole, and the diameter of the arc spherical surface is not larger than that of the sealing ball.

The gas transmission mechanism comprises a frame, a gas transmission nozzle, a gas storage bin, a gas transmission channel and a transmission device, wherein the transmission device is arranged on the frame, the gas storage bin is connected to the transmission device, the gas transmission nozzle is connected with the gas storage bin through a control valve, and the gas transmission channel is connected with the gas storage bin. The gas is conveyed into the gas storage bin through the gas conveying channel, and the transmission device drives the gas storage bin to move, so that the gas conveying nozzle is in butt joint with the sealing mechanism (particularly the lower through hole on the lower partition plate).

The transition transfer mechanism comprises a sample bottle transfer channel, a sample bottle inlet and outlet, a transition transfer bin and a gas pipe, wherein the sample bottle transfer channel is connected above the transition transfer bin; the transition transfer bin is internally provided with a three-dimensional moving platform, a transition bin, a sample bottle tray and a transfer bracket, and the transfer bracket is arranged at the power output end of the three-dimensional moving platform; the transition bin comprises a bin frame and a supporting plate, the supporting plate is fixed in the bin frame, and a sample bottle tray is arranged on the supporting plate; the gas pipe is arranged on the side wall of the transition bin, one end in the transition bin is opposite to the port of the sample bottle transfer channel, and the other end of the gas pipe is connected with the gas transmission mechanism (in particular to one gas transmission nozzle in the gas transmission mechanism). The sample bottle tray is characterized in that a sample bottle placing hole is formed in the sample bottle tray body, and a carrying notch is formed in the bottom of the sample bottle tray body. The sample bottle placing hole is a stepped through hole, the diameter of the upper part is large, and the diameter of the lower part is small; the upper portion of sample bottle placing hole is placed to the sample bottle, and the lower part of sample bottle placing hole is used for getting into gas, blows out the sample bottle. The transfer bracket is provided with a carrying claw, an air guide hole (when the sample bottle tray is arranged on the transfer bracket, the air guide hole corresponds to the sample bottle placing hole above the air guide hole), the carrying claw is inserted into a carrying notch when the sample bottle tray is transferred, and air enters the sample bottle placing hole through a through hole on the carrying claw to blow out the sample bottle.

The system is arranged in the temperature and humidity control box, can also be arranged in environments required by storage of other sample bottles to form a closed sample bottle storage and access system, the sample bottles containing samples are stored in the sample bottle storage unit, and the processes of storing, taking and storing the sample bottles are completed under the combined action of the sample bottle storage and access mechanism, the sealing mechanism, the gas transmission mechanism and the transition transfer mechanism.

The invention has the following characteristics:

1. The sample bottle access mechanism adopts a multi-channel arrangement sample bottle catching channel, which is beneficial to taking sample bottles simultaneously by multiple channels and improves the speed of taking sample bottles.

2. Sample bottle transfer bin is adopted in the sample bottle access mechanism, so that a large number of samples can be collected rapidly, rapid screening can be performed, and rapid sample taking out is achieved.

3. The sample transferring bin is designed into a T shape, and the bottom surface of the sample transferring bin presents a certain inclination, so that the sample bottle can slide downwards at the inclined surface.

4. The bottom surface of the sample bottle transferring bin is made into a rectangular groove shape and is used for collecting sample bottles, and a plurality of sample bottle inlets are uniformly distributed on the side surface.

5. The sample bottle transfer bin is provided with a rectangular slot on the corresponding side surface for symmetrically installing two identification devices; one of the other two side surfaces is provided with a hole, a sample bottle warehouse-out channel is arranged, the corresponding surface is provided with two holes, one hole is used for arranging a warehouse-in sample bottle channel mechanism, and the other hole is provided with a sample bottle warehouse-back channel.

6. The storage pipe is arranged in the sealing box, so that the sample bottle can independently share the temperature and humidity storage environment, the environmental requirement of sample storage is met, and meanwhile, a lower storage temperature environment can be built, and the requirement of a specific sample storage environment is met.

7. The storage pipe is arranged in the sealing box, can prevent the temperature from overflowing, is convenient for building a storage environment lower than minus 25 ℃, can use conventional materials, devices, parts and mechanisms, reduces the equipment cost and improves the safety and the reliability. The use environment temperature of the conventional actuating mechanism is higher than minus 25 DEG (25 ℃ below zero).

8. The autonomous sealing mechanism realizes autonomous high-efficiency sealing by the self mass of the sealing ball and the principle of universal gravitation, and improves the stability and reliability of the system.

9. The gas storage bin in the gas transmission mechanism can be provided with a plurality of gas transmission mechanisms, so that the number of gas transmission pipes is reduced, the balanced gas source distribution can be realized, the fluctuation of gas flow is reduced, and the stability of gas transmission is improved.

10. The transition transfer mechanism is provided with a plurality of supporting plates, and a three-dimensional moving platform is arranged, so that the sample bottle tray can move in the X-axis, Y-axis and Z-axis directions.

11. Sample bottle placing holes are formed in the sample bottle tray, the sample bottle placing holes are stepped through holes, and storage of sample bottles is achieved through pneumatic conveying.

12. The bottom of sample bottle tray body is provided with the transport notch, is provided with the transport claw on the transfer bracket, and the transport claw inserts the transport notch when transporting sample bottle tray, has realized sample bottle safe and reliable's transfer.

Drawings

FIG. 1 is a schematic diagram showing the overall structure of a biomedical sample capture access system according to the present invention.

FIG. 2 is a schematic view of a sample bottle access mechanism according to the present invention.

FIG. 3 is a schematic view of a sample bottle transfer mechanism according to the present invention.

Fig. 4 is a schematic diagram of a side structure of a sample vial transfer magazine of the sample vial access mechanism.

Fig. 5 is a schematic view of another side (perspective) structure of the sample vial transfer magazine of the sample vial access mechanism.

FIG. 6 is a schematic view of the structure of the sample vial access mechanism of the present invention for exiting the storage sample vial channel.

FIG. 7 is a schematic view of a sample vial storage return channel of the sample vial access mechanism of the present invention.

FIG. 8 is a schematic view of the driving mechanism of the sample bottle access mechanism according to the present invention.

Fig. 9 is a schematic view of the structure of the flexible connection pipe in the present invention.

Fig. 10 is a schematic structural view of a sample bottle storage unit in the present invention.

Fig. 11 is a schematic view showing a state in which a sample bottle is in a storage tube in the sample bottle storage unit.

Fig. 12 is a schematic view of the autonomous sealing mechanism of the present invention.

Fig. 13 is a schematic view of the structure of the separator plate on the autonomous sealing mechanism in the present invention.

Fig. 14 is a schematic view of the structure of the partition plate in the autonomous sealing mechanism of the present invention.

Fig. 15 is a schematic view of the structure of the lower partition of the autonomous sealing mechanism of the present invention.

Fig. 16 is a schematic view of the structure of the air delivery mechanism in the present invention.

FIG. 17 is a schematic diagram of the structure of the gas storage bin in the gas transmission mechanism.

Fig. 18 is a schematic structural view of a transition transfer mechanism in the present invention.

FIG. 19 is a schematic view of the structure of a sample bottle transfer channel in a transition transfer mechanism.

Fig. 20 is a schematic view of the structure of a transition shift cartridge in the transition shift mechanism.

FIG. 21 is a schematic view of the structure of a transition chamber in a transition transfer mechanism.

Fig. 22 is a schematic view of the structure of a sample bottle tray in a transition transfer bin.

Fig. 23 is a schematic structural view of a transfer carriage in a transition transfer bin.

FIG. 24 is a schematic view of the structure of the gas delivery tube in the transition shift bin.

Wherein: 1. the temperature and humidity control box, the sample bottle storing and taking mechanism, the refrigeration control unit, the sample bottle storing unit, the autonomous sealing mechanism, the gas transmission mechanism and the transition transfer mechanism are respectively arranged in the temperature and humidity control box, the sample bottle storing and taking mechanism, the refrigeration control unit, the sample bottle storing unit, the autonomous sealing mechanism, the gas transmission mechanism and the transition transfer mechanism;

21. the sample bottle transfer device comprises a motor, a bracket, a sample bottle transfer mechanism, a screw-nut pair moving mechanism and a motor, wherein the motor, the bracket, the sample bottle transfer mechanism, the screw-nut pair moving mechanism and the motor are arranged in sequence;

231. the sample bottle collecting and grabbing device comprises a sample bottle channel 232, a sample bottle transfer bin 233, an identification device 234, a sample bottle warehouse-in channel 235, a sample bottle warehouse-out channel 236 and a sample bottle warehouse-back channel;

2321. Sample bottle sorting bin 2322, sample bottle inlet 2323, warehouse-in sample bottle opening 2324, warehouse-out sample bottle opening 2325, warehouse-out sample bottle opening 2326, and identification device mounting opening;

2351. Sample bottle warehouse-out channel pipe interface, 2352, sample bottle warehouse-out channel vacuumizing port, 2353, sample bottle warehouse-out channel pipe interface, 2361, sample bottle warehouse-back channel pipe interface, 2362, sample bottle warehouse-back channel vacuumizing port, 2363, sample bottle warehouse-back channel pipe interface;

251. The device comprises a main driving mechanism 252, a secondary driving mechanism 253, hinges 254, a manipulator 255, a flexible connecting pipe 2551, a capturing nozzle 2552, a flexible pipe 2553 and an interface;

41. sealing box, 42, storage tube, 43, sample bottle, 411, refrigerating medium exchange port;

51. The heat insulation frame, 52, an upper partition plate, 53, a sealing ball, 54, a middle partition plate and 55, a lower partition plate;

521. The upper partition plate is provided with a through hole 522, an air vent groove 541, a partition plate channel 551, a lower partition plate channel hole 552 and an arc spherical surface;

61. the device comprises a frame, a gas transmission nozzle, a control valve, a gas storage bin, a gas transmission port, a transmission device, a gas storage bin body, a valve interface, a gas transmission interface and a gas transmission interface, wherein the frame is provided with the gas transmission nozzle, the control valve, the gas transmission nozzle, the control valve, the gas storage bin, the gas transmission port and the gas transmission port, the transmission device, the gas storage bin body, the valve interface and the gas transmission interface;

71. sample bottle transfer passage 72, transition transfer bin 73, back cover plate 74, front cover plate 75, sample bottle storage port;

711. an interface 712, a transfer tube 713, a sample bottle inlet and outlet;

721. three-dimensional moving platform 722, transition bin 723, sample bottle tray 724, transfer bracket 725, gas pipe;

7221. the bin frame 7222, mounting holes 7223 and supporting plates;

7231. sample bottle tray body 7232 sample bottle placement hole 7233 carrying notch;

7241. Carrying claw 7242, mounting surface 7243, air guide hole 7244 and positioning table;

7251. air feed port 7252, air delivery pipe body 7253, air delivery interface.

Detailed Description

The biological medicine sample catching and accessing system comprises a sample bottle accessing mechanism 2, a sample bottle storage unit 4, an autonomous sealing mechanism 5, a gas transmission mechanism 6 and a transition transfer mechanism 7, wherein the sample bottle accessing mechanism 2, the sample bottle storage unit 4, the autonomous sealing mechanism 5 and the gas transmission mechanism 6 are sequentially arranged from top to bottom, and the transition transfer mechanism 7 is arranged on one side of the sample bottle storage unit 4 and is in butt joint with the sample bottle accessing mechanism 2 and the gas transmission mechanism 6. The whole system is arranged in a temperature and humidity control box 1, a refrigeration control unit 3 is arranged in the temperature and humidity control box 1, and the whole system can also be arranged in environments required by storage of other sample bottles to form a closed sample bottle storage and access system. The sample bottle 43 for containing the sample is stored in the sample bottle storage unit 4, and the processes of storing, taking and storing the sample bottle are completed under the combined action of the sample bottle storing and taking mechanism 2, the autonomous sealing mechanism 5, the gas conveying mechanism 6 and the transition transferring mechanism 7.

The specific structure of each unit will be described in detail below.

1. Sample bottle access mechanism

As shown in fig. 2, the sample bottle access mechanism 2 includes a holder 22, a sample bottle transfer mechanism 23, a moving mechanism 24, and a driving mechanism 25, both the moving mechanism 24 and the driving mechanism 25 being provided on the holder 22, the sample bottle transfer mechanism 23 being connected to both sets of moving mechanisms 24.

The moving mechanism 24 is provided with two sets of screw-nut pair moving mechanisms which are arranged on the bracket 22 in parallel, and each set of screw-nut pair moving mechanism 24 is driven by the motor 21. Both ends of the sample bottle transfer mechanism 23 are connected with nuts in the two sets of screw nut pair moving mechanisms 24. The motor 21 drives the screw-nut pair moving mechanism to operate, the two sets of screw-nut pair moving mechanisms drive the sample bottle transferring mechanism 23 (sample bottle transferring bin 232) to move,

As shown in fig. 3, the sample bottle transfer mechanism 23 includes a sample bottle transfer bay 232, a catch sample bottle channel 231, a sample bottle storage channel 234, a sample bottle discharge channel 235, and a sample bottle return channel 236 connected to the sample bottle transfer bay 232. The sample bottle transfer bin 232 is provided with the identification device 233, and the identification device 233 is an existing two-dimensional code identifier, a radio frequency card identifier and the like, so that accurate identification can be realized on the two-dimensional code, the radio frequency card and the like on the sample bottle. Control valves are arranged in the pipelines connected with the sample bottle warehouse-in channel 24, the sample bottle warehouse-out channel 26 and the sample bottle warehouse-back channel 28, and are opened or closed in real time according to instructions, and the attribution path of the sample bottles is determined. The catch sample bottle channel 231, the sample bottle warehouse-in channel 234, the sample bottle warehouse-out channel 235, and the sample bottle warehouse-back channel 236 move along with the sample bottle transfer bin 23.

As shown in fig. 4 and 5, the sample bottle transfer bin 232 is provided with a sample bottle inlet 2322, a return sample bottle mouth 2323, a warehouse sample bottle mouth 2324, a warehouse sample bottle mouth 2325 and a recognition device mounting mouth 2326 for mounting the catching sample bottle channel 231, the sample bottle warehouse-returning channel 236, the sample bottle warehouse-in channel 234, the sample bottle warehouse-out channel 235 and the recognition device 233, respectively, on the sample bottle sorting bin 2321. The sample bottle sorting bin 321 is designed into a T shape, and the bottom surface of the sample bottle sorting bin presents a certain inclination, so that the sample bottle can slide downwards at the inclined surface. The bottom surface is manufactured into a rectangular groove for collecting sample bottles, and a plurality of sample bottle inlets and outlets are uniformly distributed on the side surface; the recognition device mounting ports 326 are formed on two opposite sides of the rectangular slot, and two symmetrical recognition devices 33 are mounted; the other two opposite sides are provided with a warehouse-out sample bottle opening 325 for installing the sample bottle warehouse-out channel 35, and the other two opposite sides are provided with a warehouse-back sample bottle opening 323 and a warehouse-in sample bottle opening 324 for installing the sample bottle warehouse-back channel 36 and the sample bottle warehouse-in channel 34 respectively.

As shown in fig. 6, the sample bottle discharging channel 235 is designed as an "L" shaped tube with rounded corners, on which a sample bottle discharging channel tube connector 2351, a sample bottle discharging channel vacuumizing port 2352 and a sample bottle discharging channel tube connector 2353 are provided. The sample bottle delivery channel tube interface 2351 connects to a delivery sample bottle opening 2325 on the sample bottle sorting bin 2321. A branch pipe is provided near the sample bottle delivery channel opening 2351 (also referred to as a sample transfer bin 232) as a sample bottle delivery channel vacuumizing port 2352 for vacuumizing, creating a negative pressure area, and the sample bottle 43 is sucked out of the sample bottle transfer bin 232 through the sample bottle delivery channel opening 2351 and into the sample bottle delivery channel 235.

As shown in fig. 7, the sample bottle return channel 236 has a structure identical to that of the sample bottle outlet channel 235, and is also designed as an "L" pipe with rounded corners, and a sample bottle return channel pipe joint 2361, a sample bottle return channel vacuumizing port 2362, and a sample bottle return channel pipe joint 2363 are provided thereon. The sample bottle return channel tube interface 2361 connects to a return sample bottle mouth 2323 on the sample bottle sorting bin 2321. A branch pipe is provided near the sample bottle return channel pipe joint 2361 (also referred to as the sample transfer bin 232) as a sample bottle return channel vacuumizing port 2362 for vacuumizing, creating a negative pressure area, and the sample bottle 43 is sucked out of the sample bottle transfer bin 232 through the sample bottle return channel pipe joint 2361 and into the sample bottle return channel 236. The sample vial return channel 236 is connected to a flexible connecting tube 255 (see fig. 9).

The driving mechanism 25 has two sets, each set is structured as shown in fig. 8, and includes a main driving mechanism 251 and a sub driving mechanism 252, and the sub driving mechanism 252 is connected to the power output end of the main driving mechanism 251. The main driving mechanism 251 employs a screw-nut pair moving mechanism, a screw is mounted on the bracket 21 and connected to the driving motor 26, and a nut is connected to the screw. The auxiliary driving mechanism 252 adopts an electric telescopic gripper, which is the prior art and comprises an electric telescopic frame 253 and a gripper 254, wherein the electric telescopic frame 253 is connected to a nut in the main driving mechanism, and the gripper 254 is connected to the tail end of the electric telescopic frame 253. The gripper 254 is driven by the electric telescopic frame 253 to open and close, and is used for gripping the flexible connecting pipe 255.

As shown in fig. 9, flexible connection tube 255 has capture nozzles 2551 and interfaces 2553 at both ends of flexible tube 2552. Catch nozzle 2551 and interface 2553 are used to connect sample bottle return channel 236 (sample bottle return channel tube interface 2363), and catch nozzle 2551 is used to interface with the upper port of storage tube 42.

A set of driving mechanisms 25 is used to drive the flexible connection tube 255 to interface with the storage tube 42 in the sample bottle storage unit 4 (the catch nozzle 2551 interfaces with the upper port of the storage tube 42), forming a closed channel through which the sample bottle 43 passes. Another set of drive mechanisms 25 is used to grasp either the in-store sample bottle channel 234 or the sample bottle out-of-store channel 235 for interfacing with the sample bottle transfer tube 71.

The operation of the sample bottle access mechanism 2 described above is as follows.

Sample bottles 43 are pneumatically transported from the storage tube 42 into the sample bottle return channel 236 and then into the sample bottle sorting bin 2321 in the sample bottle transfer bin 232.

When the recognition device 233 recognizes that the sample bottle 43 is to be taken, the sample bottle discharging channel vacuumizing port 2352 in the sample bottle discharging channel 235 is opened, and the sample bottle 43 is sucked in through the sample bottle discharging channel pipe port 2351 and enters the sample bottle transfer pipe 71 in the transition transfer mechanism 7 through the sample bottle discharging channel pipe port 2353 (at this time, the sample bottle discharging channel pipe port 2353 of the sample bottle discharging channel 235 is connected to the port 711 of the sample bottle transfer pipe 71). The sample bottle 43 enters the transition transfer mechanism 7 through the sample bottle transfer pipe 71, and the delivery process is completed in the transition transfer mechanism 7.

If the sample bottle 43 is not to be taken, the sample bottle returning channel vacuumizing 2362 in the sample bottle returning channel 236 is opened, the sample bottle 43 is sucked in through the sample bottle returning channel pipe joint 2361, enters the flexible connecting pipe 255 through the sample bottle returning channel pipe joint 2363, and the catching nozzle 2551 is in butt joint with the upper port of the corresponding storage pipe 42 under the driving of the driving mechanism 25, and the sample bottle 43 enters the storage pipe 42 to finish the returning.

When the sample bottles 43 need to be stored in the sample bottle storage unit 4 (at the time of storage), the storage sample bottle channel 234 is gripped by the driving mechanism 25 and is abutted against the sample bottle transfer tube 71 in the sample bottle transfer mechanism 7. Sample bottles 43 enter the sample bottle transfer bin 232 through the sample bottle warehouse-in channel 234 by the sample bottle transfer mechanism 7, the 2632 of the sample bottle warehouse-back channel 236 starts vacuumizing, under the negative pressure, the sample bottles enter the sample bottle warehouse-back channel 2361, enter the flexible connecting pipe 255 through the sample bottle warehouse-back channel pipe joint 2363, the catching mouth 2551 is in butt joint with the upper port of the corresponding storage pipe 42 under the drive of the driving mechanism 25, and the sample bottles 43 enter the storage pipe 42 to finish warehouse-in.

2. Sample bottle storage unit

The sample bottle storage unit 4 adopts a cluster tube structure, as shown in fig. 10, and comprises a sealed box 41, wherein a refrigerating medium exchange port 411 is formed in the side wall of the sealed box 41, storage tubes 42 are vertically distributed in the sealed box 41, the storage tubes 42 are fixed through tube plates at the upper end and the lower end of the sealed box 41 (tube plate holes with the same outer diameter as the storage tubes 42 are distributed in the tube plates), and the upper end and the lower end of the storage tubes 42 are all open. The storage tube 42 is used to store a sample bottle 43, as shown in fig. 11. Function of the seal box 41: firstly, an independent and stable storage temperature and humidity environment is provided for a sample storage unit, and the environment temperature can be lower than 25 ℃ below zero; and secondly, the sample storage unit 4 is isolated from other mechanisms or units, so that the sample storage unit has an exclusive temperature and humidity environment.

3. Autonomous sealing mechanism

As shown in fig. 12, the autonomous sealing mechanism 5 includes a heat insulating frame 51 and an upper partition plate 52, a middle partition plate 54, a sealing ball 53, and a lower partition plate 55 that are connected together from top to bottom.

As shown in fig. 13, the upper partition plate 52 has upper partition plate through holes 521 distributed therein, and a plurality of ventilation grooves 522 are engraved in the inner wall of the upper partition plate through holes. The upper diaphragm through hole 521 has a diameter smaller than that of the sealing ball 53, and serves to restrict the sealing ball 53. The vent groove 522 has an circumscribed circular diameter corresponding to the circular through hole 541, and is a passage for high-pressure gas to enter the storage tube 42.

As shown in fig. 14, circular through holes 541 are distributed in the middle partition plate 54, and sealing balls 53 are provided in the circular through holes 541. The circular through hole 541 has a diameter larger than that of the sealing ball 53, and is a sealing ball floating region, and also a passage through which high-pressure gas flows.

As shown in fig. 15, the lower partition 55 is provided with lower partition through holes 551 distributed thereon and is rounded to form an arcuate spherical surface 552. The diameter of the arc-shaped spherical surface 552 is not larger than that of the sealing ball 53, when the sealing ball 53 loses the external pressure, the sealing ball falls into the spherical surface 552 by self gravity to seal the lower partition plate through hole 551.

The diameter of the sealing ball 53 is smaller than the inner diameter of the circular through hole 551 and larger than the upper and lower partition through holes 521 and 551, and the distribution of the upper, circular through holes 541 and lower partition through holes 551 is identical to that of the storage tubes in the sample bottle storage unit (coaxial up and down, one-to-one correspondence).

4. Air conveying mechanism

As shown in fig. 16 and 17, the gas delivery mechanism 6 includes a frame 61, a gas delivery nozzle 62, a control valve 63, a gas storage bin 64, a gas delivery passage 65, and a transmission device 66, and a plurality of valve interfaces 642 and 1 gas delivery interface 643 are provided on a gas storage bin body 641. The transmission device 66 is installed on the frame 61, a screw-nut pair moving mechanism is adopted, a screw is installed on the frame 61, a nut is connected to the screw, the gas storage bin 64 is connected to the nut, and the gas delivery nozzle 62 is connected with a valve interface 642 of the gas storage bin 64 through the control valve 63. The gas transmission channel 65 is connected with the gas transmission interface 643 of the gas storage bin 64, and the gas transmission channel 65 transmits high-pressure gas into the gas storage bin 64. The transmission device 66 drives the gas storage bin 64 to move.

The operation process of the gas transmission mechanism 6 and the autonomous sealing mechanism 5 is as follows:

The gas delivery nozzles 62 are in butt joint with a row of lower partition through holes 551 of the lower partition 55 at corresponding positions under the control of the transmission mechanism 66. High-pressure gas enters one or more through holes 551 of the corresponding lower partition plate on the lower partition plate 55 through the gas delivery nozzles 62, under the action of the high-pressure gas, the sealing balls 53 are in a suspended state in the corresponding middle channels 541 of the middle partition plate 54, the sealing effect is disabled, and the high-pressure gas enters one or more storage pipes 42 through the corresponding ventilation grooves 522 on the upper partition plate 52, so that the sample bottles 43 in the storage pipes 42 are pushed to move upwards. When the air pressure is removed, the sealing ball 53 falls down into the arc-shaped spherical surface 552 of the lower partition 55 by its own weight, and plays a role of autonomous sealing. The density of the sealing ball 53 itself is sufficiently high that the sealing ball 53 cannot be suspended without the high pressure air flow.

5. Transition transfer mechanism

As shown in fig. 18, the transition transfer mechanism 7 includes a sample bottle transfer tube 71 and a transition transfer chamber 72, the sample bottle transfer tube 71 is connected above the transition transfer chamber 72, a rear cover plate 73 is provided at the rear of the transition transfer chamber 72, an openable front cover plate 74 is provided at the front, and a sample bottle storage port 75 is provided on the front cover plate 74. The sample bottles 43 are transferred between the transition transfer bin 72 and the sample bottle access mechanism 2 by sample bottle transfer tubes 71.

As shown in fig. 19, the sample bottle transfer tube 71 has a port 711 and a sample bottle inlet/outlet 713 at both ends of a transfer tube body 712. The transfer tube 712 passes through the mounting aperture 7222 into the transition chamber 722. The interface 711 interfaces with the catch port 2353 of the sample vial storage channel 235 or the lower port of the sample vial storage channel 234 in the sample vial storage mechanism 2. Sample bottles 43 enter and exit transition bins 72 through sample bottle access 713. The sample bottles 43 are transferred between the transition mechanism 7 and the sample bottle access mechanism 2 via the sample bottle transfer tube 71.

As shown in fig. 20, the transition-transfer bin 72 is internally provided with a three-dimensional moving platform 721, a transition bin 722, a sample bottle tray 723, a transfer bracket 724, and a gas pipe 725. The three-dimensional moving platform 721 is a prior art and is mounted within the transition bin 722. The transfer bracket 724 is installed at the power output end of the three-dimensional moving platform 721, and is driven by the three-dimensional moving platform 721 to perform three-dimensional operation up and down, left and right, front and back, and reach the required position. Sample bottle tray 723 is placed on pallet 7223 in transition bin 722. As shown in fig. 21, the transition bin 722 includes a bin frame 7221 and a pallet 7223, and a mounting hole 7222 of the sample bottle transfer tube 71 is provided at an upper end of the bin frame 7221, and the mounting hole 7222 is connected to the sample bottle transfer tube 71. The pallet 7223 is horizontally aligned and fixed in the magazine 7221 for temporarily storing sample bottle trays 723. The gas pipe 725 is disposed on a side wall of the transition chamber 722 (specifically, on the rear cover plate 73), and one end in the transition chamber 722 is disposed directly below the sample bottle inlet/outlet 713 of the sample bottle transfer tube 71, and the distance between the gas pipe 725 and the sample bottle transfer tube 71 is equal to the height of the sample bottle tray 723. The other end of the air delivery pipe 725 is connected to one of the air delivery nozzles 62 in the air delivery mechanism 6.

As shown in fig. 22, a sample bottle tray 723 is provided with a sample bottle placement hole 7232 in a sample bottle tray 7231, and a transport notch 7233 is provided in the bottom of the sample bottle tray 7231. The sample bottle placing hole 7232 is a stepped through hole, and has a large upper diameter and a small lower diameter, and the sample bottle 43 is placed on the upper portion, and the lower portion is used for holding the sample bottle 43 and entering gas to blow out the sample bottle 43.

As shown in fig. 23, the transfer bracket 724 includes a carrying claw 7241, a mounting surface 7242, and a positioning table 7244. One side of the carrying claw 7241 is a positioning table 7244 for restricting the placement position of the sample bottle tray 7231. The lower bottom surface of the positioning table 7244 is a mounting surface 7242 for connection to a three-dimensional moving platform 721. The carrying claw 7241 is provided with an air vent 7243, and the air vent 7243 corresponds to the sample bottle placing hole 7232 in the sample bottle tray 7231, and is used for preventing gas from passing through when the sample bottle placing hole 7232 is directly under the carrying claw 7241. The carrying claw 7241 blocks the sample bottle placing hole 7232 in the sample bottle tray body 7231 above the sample bottle tray 723 when it is placed on the transfer bracket 724, and the gas vent 7243 is provided so that gas can enter the sample bottle placing hole 7232 through the gas vent 7243. The carrying claw 7241 is inserted into a carrying notch 7233 in the bottom of the carrying sample bottle tray 723, and the sample bottle tray 7231 is lifted up and moves three-dimensionally in the transition bin 722 following the three-dimensional moving platform 721.

As shown in FIG. 24, a gas delivery pipe 725 has a gas delivery port 7251 and a gas delivery interface 7253 at both ends of a gas delivery pipe body 7252. The gas pipe 7252 is provided on the back cover plate 73, and the gas supply port 7251 is provided immediately below the sample bottle inlet/outlet 713, and the distance between the gas supply port 7251 and the sample bottle inlet/outlet 713 is equal to the height of the sample bottle tray 723 (the height of the conveying claw 7241 is equal to the height of the conveying notch 7233). The gas delivery interface 7253 is connected to a gas delivery nozzle 62 in the gas delivery mechanism 6.

The operation of the above-described transition mechanism 7 is as follows.

The sample bottles 43 are placed in the sample bottle placing holes 7232 on the sample bottle tray 723, the sample bottle tray 723 is moved in and out of the transition rotation mechanism 7 by the sample bottle storage port 75, and the transport of the sample bottle tray 723 between the sample bottle taking and placing port 75 and the bin 7221 is realized by the three-dimensional moving platform 721.

When the sample bottles 43 enter the unloading program, the sample bottles 43 enter the sample bottle transfer tube 71 from the sample bottle unloading channel 235, the sample bottles 43 continuously come out from the sample bottle inlets 713, the sample bottle trays 723 continuously move under the drive of the three-dimensional moving platform 721, the empty sample bottle placing holes 7232 receive the sample bottles 43 from the sample bottle inlets 713, and the sample bottles 43 are placed into the sample bottle placing holes 7232 one by one. When the sample bottle tray 723 is full of sample bottles 43, or the number of the sample bottles 43 taken out meets the requirement (the sample bottle tray 723 is not full of sample bottles 43 yet), the three-dimensional moving platform 721 drives the sample bottle tray 723 to be temporarily placed on the pallet 7223, or to be moved out of the transition rotation mechanism 7 through the sample bottle storage port 75, so as to finish the task of leaving a warehouse.

When it is necessary to store the sample bottles 43 in the sample bottle storage unit 4 (at the time of storage), the sample bottles 43 are first placed in the sample bottle placing holes 7232, and the sample bottle trays 723 are placed in the transition transfer bins 72 through the sample bottle storage ports 75 and placed on the pallet 7223. The three-dimensional moving platform 721 drives the carrying claw 7241 into the carrying notch 7233 at the bottom of the sample bottle tray 723. To increase the speed of entry of the sample bottle tray 723 into the transition mechanism 7, if there are too many sample bottle trays 723 stored at a time, the sample bottle tray 723 may be first placed on the pallet 7223. When all the sample bottle trays 723 to be stored enter the transition transfer mechanism 7, the sample bottle trays 723 are moved to a predetermined position (at the sample bottle inlet 713) by the three-dimensional moving platform 721. At the same time, one of the drive mechanisms 25 grips the warehouse entry sample vial channel 234 and interfaces with the interface 711 of the sample vial transfer tube 71 in the transition transfer mechanism 7. At this time, the air supply port 7251 of the air pipe 725, the sample bottle placement hole 7232 of the sample bottle tray 723 on which the corresponding sample bottle 43 is placed, and the sample bottle inlet/outlet 713 of the sample bottle transfer pipe 71 are aligned. The control valve 63 for controlling the gas delivery nozzle 62 connected to the gas delivery pipe 725 is opened, and high-pressure gas is blown to the sample bottle placing hole 7232 through the gas delivery port 7253 of the gas delivery pipe 725, and the sample bottle 43 in the sample bottle placing hole 7232 is blown into the sample bottle transfer pipe 71. If the sample bottle placement hole 7232 is located directly below the carrying claw 7241, the gas blown out from the gas delivery port 7253 of the gas delivery pipe 725 directly or through the gas delivery hole 7243 enters the sample bottle placement hole 7232, and the sample bottle is blown out from the sample bottle placement hole 7232 and enters the sample bottle transfer pipe 71. In this manner, the sample bottles 43 are pneumatically conveyed one by one through the sample bottle transfer tube 71 into the sample bottle storage channel 234 and then into the sample bottle sorting bin 2321. And finally, carrying out a warehousing process according to the warehousing process in the sample bottle access mechanism 2.

The operation process of the biomedical sample catching and accessing system of the invention is as follows.

When a specific sample bottle 43 needs to be taken out, the gas delivery nozzle 62 moves under the control of the transmission device 66, is in butt joint with a row of lower partition plate through holes 551 of the lower partition plate 55 in the autonomous sealing mechanism 5 corresponding to the lower port of the storage pipe 42 where the sample bottle 43 is stored, and opens one or more control valves 63 according to the instruction to deliver high-pressure gas to the corresponding storage pipe 42. Meanwhile, the moving mechanism 24 drives the sample bottle transferring bin 23 to move, and the catching sample bottle channel 231 moves to the upper port of the storage tube 42 where the sample bottle 43 is located along with the sample bottle transferring bin 23; a set of driving mechanism 25 drives the sample bottle delivery channel 235 (sample bottle delivery channel pipe joint 2353) to be in butt joint with the sample bottle transfer pipe 71 (interface 711) to form a complete delivery channel; the high-pressure gas is controlled to be sprayed out from the gas delivery nozzle 62, enters the designated storage tube 42 through the channel corresponding to the main sealing mechanism 5, blows the sample bottle 43 out of the storage unit 4, and enters the sample bottle transfer bin 232 through the sample catching channel 231. Within the sample bottle transfer bin 232, sample bottle information is captured by the identification device 233. When the recognition device 233 recognizes that the sample bottle 43 is to be taken, the sample bottle discharging channel vacuumizing port 2352 in the sample bottle discharging channel 235 is opened, and the sample bottle 43 is sucked in through the sample bottle discharging channel pipe port 2351 and enters the sample bottle transferring pipe 71 in the transition transferring mechanism 7 through the sample bottle discharging channel pipe port 2353. The sample bottle 43 enters the transition transfer mechanism 7 through the sample bottle transfer pipe 71, and the delivery process is completed in the transition transfer mechanism 7.

If the sample bottle 43 is not to be taken, the driving mechanism 25 drives the two ends of the flexible connecting pipe 255 to be respectively butted with the sample bottle warehouse-returning channel 236 (the sample bottle warehouse-returning channel pipe joint 2361) and the upper port of the corresponding storage pipe 42 to form a warehouse-returning channel; simultaneously, a sample bottle returning channel vacuumizing port 2362 in the sample bottle returning channel 236 is opened, a sample bottle 43 is sucked in through a sample bottle returning channel pipe port 2361, enters a flexible connecting pipe 255 through a sample bottle returning channel pipe port 2363, is in butt joint with the upper port of a corresponding storage pipe 42 under the driving of a driving mechanism 25, and the sample bottle 43 enters the storage pipe 42 to finish the returning process.

When it is necessary to store the sample bottles 43 in the sample bottle storage unit 4 (at the time of storage), the sample bottles 43 are first introduced into the sample bottle placing holes 7232 as described in the operation of the transition transfer mechanism 7. And then carrying out a warehousing process according to the warehousing process in the sample bottle access mechanism 2.

Specific examples are given below.

The temperature box 1 is designed to be 1200mm long, 1200mm wide and 1800mm high, the thickness of the heat preservation layer is 50mm, and a temperature and humidity control system is installed.

The sample bottle storage unit 4 is designed to be 1000mm long, 800mm wide and 1000mm high. The storage pipe is made of organic glass round pipe with an inner diameter phi of 20mm, an outer diameter phi of 24mm and a length of 900mm. The upper tube plate and the lower tube plate are 1000mm long, 800mm wide and 10mm thick, are made of organic glass, are provided with 33 uniformly distributed stepped holes on the long side and 25 uniformly distributed stepped holes on the short side, are provided with 825 uniformly distributed stepped holes in total, have the hole spacing of 30mm, and have the large holes phi 24mm and the small holes phi 20mm. Firstly, the storage tubes are inserted into holes with the diameter of 24mm of the lower tube plate one by one, then the storage tubes are inserted into holes with the diameter of 24mm of the upper tube plate one by one, and the storage tube bundles are manufactured. The heat preservation layer is arranged around the longitudinal direction of the storage tube bundle, the thickness of the heat preservation layer is 50mm, 4 refrigerating medium exchange holes with phi 100 are reserved on two symmetrical sides, the distance between the two identical side holes is 400mm, the refrigerating medium exchange holes are used for installing cooling medium exchange ports, and the manufacturing of the sample bottle storage unit is completed.

The sample bottle access mechanism 2 is designed. The sample bottle transferring bin 23 is designed into a T shape, and the specific dimensions are 1000mm long, 800mm wide and 200mm high, wherein a groove with the height of 100mm is formed on the bottom surface for collecting sample bottles, the bottom surface presents a certain inclination, and the sample bottles slide downwards on the inclined surface; 33 sample bottle inlet channels with phi 20mm are uniformly distributed on the side surface and correspond to the sample tube arrangement in the storage unit; on the cuboid which extends out from the lower surface, a rectangular groove which is 20mm or 50mm away from the bottom surface is respectively formed on the corresponding side surface and is used for installing 2 identification devices; one of the other two side faces is provided with a phi 20mm hole, a sample bottle warehouse-out channel is arranged, the corresponding face is provided with 2 phi 20mm holes, one of the holes is used for arranging a warehouse-in sample bottle channel mechanism, and the other hole is provided with a sample bottle warehouse-back channel.

The structure of the sample bottle warehouse-out channel and the sample bottle warehouse-back channel is the same, an L-shaped pipe with a round angle is designed, the inner diameter phi of the pipe is 20mm, the round angle R is 60mm, the wall thickness is 2mm, and a branch pipe is arranged at the position close to the sample bottle transfer bin and used for vacuumizing, and the inner diameter phi of the branch pipe is 10mm, and the wall thickness is 2mm.

When the identification device identifies the sample bottle to be taken, the sample bottle taking mechanism is started, and the sample bottle is sucked out. If the sample bottle is not to be taken, another set of mechanism is opened, and the sample bottle is sucked into the warehouse-returning channel.

The sample bottle delivery channel, the sample bottle return channel, the warehouse-in sample bottle channel mechanism and the identification device are arranged in the sample bottle transfer bin, and then are arranged on the bracket together with the screw rod mechanism and the driving motor, so that the sample bottle access mechanism 2 is manufactured.

Manufacturing of the autonomous sealing mechanism 5:

1) The heat insulation frame is manufactured, the size is 1000 x 800 x 35mm, and the thickness of the heat insulation layer is 50mm.

2) The upper partition plate is 1000mm long, 800mm wide and 10mm thick, is made of engineering plastics, is provided with 825 ventilation slot through holes uniformly distributed, corresponds to 825 holes of the storage unit tube bundle one by one, is 140mm from the center to the edge of the outer side hole, is 10mm in diameter of the inscribed circle of the through holes, is 15 x 2mm in size of the ventilation slots, and is provided with 6 ventilation slots uniformly distributed.

3) The pneumatic channel is 1000mm long, 800mm wide and 15mm thick, is made of engineering plastics, is uniformly provided with 825 ventilation slot through holes, corresponds to 825 holes of the upper partition plate one by one, and has an outer side hole center distance of 140mm from the side line and a through hole diameter phi of 15mm.

4) The lower partition plate is 1000mm long, 800mm wide and 10mm thick, is made of stainless steel, is uniformly provided with 825 ventilation slot through holes, corresponds to 825 holes of the upper partition plate and the middle partition plate one by one, is 140mm from the center of the outer side hole to the side line, is 10mm in diameter of the through hole, and is provided with an arc chamfer R2.

5) The diameter phi of the gas sealing ball is 12mm.

6. The lower partition plate, the sealing ball, the middle partition plate and the upper partition plate are sequentially arranged in the heat insulation frame and are connected together through fasteners, and the gas sealing mechanism is assembled.

The refrigeration control unit, the gas transmission mechanism, the gas sealing mechanism, the sample bottle storage unit, the transition transfer mechanism and the sample bottle access mechanism are assembled into a whole through the auxiliary connecting piece and are placed into the temperature control mechanism, and the related executing mechanisms are respectively installed, so that the multi-channel friction type sample bottle access system is assembled.

Sixth, transition transfer mechanism 7

1) Front cover plate, design 1000 x 1200 x 10mm, open 300 x 100mm mouth centrally.

2) The transition bin is 1000 x 1200 x 300mm, and a phi 22mm hole is formed in the middle of the upper end.

3) The back cover plate is 1000 x 1200 x 10mm in design, and a phi 12mm hole is formed in the center of the back cover plate, 30mm away from the bottom.

4) The pallet was 200 x 140 x 10mm in design.

5) The tray is designed to 240 x 140 x 40mm, 45 sample bottles are uniformly distributed to be placed in holes, the placement holes are stepped hole through holes, wherein the upper size phi=20 mm, the depth is 30mm, the lower size phi 10mm and the depth is 10mm, two notches which are 30 x 5mm are symmetrically formed in the other surface, and the distance is 140mm.

6) The transfer bracket is designed into a concave shape with the size of 200 mm, and a boss with the size of 200 mm and the size of 10mm is manufactured at the bottom of the concave shape and used for limiting the position of the tray. The length of each claw is 140mm, the width of each claw is 30mm, the thickness of each claw is 5mm, the distance between the two claws is 140mm (corresponding to the notch of the tray), 5 phi 10mm holes are respectively formed in the two claws, and the positions of the holes correspond to the transverse positions of the holes of the tray. A boss of 30 x 50 x 20mm is manufactured at the bottom edge of the concave shape and is used for connecting with a three-dimensional moving platform.

7) The supporting plate and the three-dimensional moving platform are sequentially arranged on the transition bin, the transfer bracket is connected to the three-dimensional moving platform, the front cover plate and the rear cover plate are connected with the transition bin, and the transition transfer mechanism is manufactured.

Claims (10)

1. The biological medicine sample catching and accessing system is characterized by comprising a sample bottle accessing mechanism, a sample bottle storage unit, an autonomous sealing mechanism, a gas transmission mechanism and a transition transfer mechanism, wherein the sample bottle accessing mechanism, the sample bottle storage unit, the autonomous sealing mechanism and the gas transmission mechanism are sequentially arranged from top to bottom;

the sample bottle storing and taking mechanism comprises a bracket, a sample bottle transferring mechanism, a moving mechanism and a driving mechanism, wherein the moving mechanism and the driving mechanism are arranged on the bracket, the sample bottle transferring mechanism is connected to the moving mechanism, and the sample bottle transferring mechanism comprises a sample bottle transferring bin, a sample bottle catching channel, a sample bottle warehousing channel, a sample bottle ex-warehouse channel and a sample bottle warehouse-returning channel which are connected to the sample bottle transferring bin; the sample bottle warehouse-out channel and the sample bottle warehouse-back channel are both provided with vacuumizing ports, and the sample bottle warehouse-back channel is connected with a flexible connecting pipe; the driving mechanism is at least provided with one set, and drives the flexible connecting pipe to be in butt joint with the sample bottle storage unit, or drives the sample bottle channel entering the warehouse or the sample bottle channel leaving the warehouse to be in butt joint with the transition transfer mechanism.

2. The biomedical sample capturing access system of claim 1, wherein the sample bottle transfer bin is provided with an identification device.

3. The biomedical sample catching and accessing system according to claim 1, wherein the control valves are arranged in the pipelines connected with the sample bottle warehouse-in channel, the sample bottle warehouse-out channel and the sample bottle warehouse-back channel.

4. The biomedical sample capturing access system of claim 1, wherein the drive mechanism comprises a primary drive mechanism and a secondary drive mechanism, the secondary drive mechanism being connected to a power output end of the primary drive mechanism; the main driving mechanism adopts a screw-nut pair moving mechanism; the auxiliary driving mechanism adopts an electric telescopic gripper, and comprises an electric telescopic frame and a gripper, wherein the electric telescopic frame is connected to the power output end of the main driving mechanism, and the gripper is connected to the tail end of the electric telescopic frame.

5. The system according to claim 1, wherein the storage unit for the sample bottles comprises a sealing box, wherein a refrigerating medium exchange port is arranged on the side wall of the sealing box, storage pipes are vertically distributed in the sealing box and are fixed through pipe plates at the upper end and the lower end of the sealing box, and the upper end and the lower end of the storage pipes are both opened.

6. The biomedical sample capture access system of claim 1, wherein the self-sealing mechanism comprises a heat shield frame and an upper baffle, a middle baffle and a lower baffle connected together from top to bottom within the heat shield frame; the upper partition plate is provided with upper through holes, and ventilation grooves are carved on the inner walls of the upper through holes; round through holes are distributed on the middle partition plate, sealing balls are arranged in the round through holes, and the diameter of the round through holes is larger than that of the sealing balls; the lower partition plate is provided with lower through holes; the diameter of the sealing ball is smaller than the inner diameter of the round through hole and larger than the inner diameters of the upper through hole and the lower through hole, and the distribution mode of the upper through hole, the round through hole and the lower through hole is consistent with the distribution mode of the storage pipes in the sample bottle storage unit.

7. The biological medicine sample capturing and accessing system according to claim 1, wherein the gas transmission mechanism comprises a frame, a gas transmission nozzle, a gas storage bin, a gas transmission channel and a transmission device, wherein the transmission device is arranged on the frame, the gas storage bin is connected to the transmission device, the gas transmission nozzle is connected with the gas storage bin through a control valve, and the gas transmission channel is connected with the gas storage bin.

8. The biomedical sample capturing access system of claim 1, wherein the transition transfer mechanism comprises a sample bottle transfer channel, a sample bottle access, a transition transfer bin and a gas pipe, the sample bottle transfer channel is connected above the transition transfer bin; the transition transfer bin is internally provided with a three-dimensional moving platform, a transition bin, a sample bottle tray and a transfer bracket, and the transfer bracket is arranged at the power output end of the three-dimensional moving platform; the transition bin comprises a bin frame and a supporting plate, the supporting plate is fixed in the bin frame, and a sample bottle tray is arranged on the supporting plate; the gas pipe is arranged on the side wall of the transition bin, one end of the gas pipe in the transition bin is opposite to the port of the sample bottle transfer channel, and the other end of the gas pipe is connected with the gas transmission mechanism.

9. The biomedical sample catching and accessing system as claimed in claim 8, wherein the sample bottle tray is provided with a sample bottle placing hole on a sample bottle tray body, and a carrying notch is arranged at the bottom of the sample bottle tray body; the sample bottle placing hole is a stepped through hole, the diameter of the upper part is large, and the diameter of the lower part is small.

10. The biomedical sample catching and accessing system as claimed in claim 8, wherein the transfer bracket is provided with a carrying claw, and the carrying claw is provided with an air vent.