CN207133303U - Biological specimen automatic access equipment - Google Patents

Abstract

The utility model discloses a kind of biological specimen automatic access equipment, it is related to biological gene sample access arrangement technical field, including cryogenic storage tank, the transmission storehouse being arranged on above cryogenic storage tank, the extraction mouth of connection transmission storehouse and cryogenic storage tank；Sample storage rack, sample box Zan Zhi areas and the second manipulator for accessing sample box to sample storage rack in cryogenic storage tank are provided with the cryogenic storage tank；More column unit framves are placed with the sample storage rack；The first manipulator is provided with the transmission storehouse, and transmits to be additionally provided with storehouse and is combined with closure, the cap-opening mechanism for opening and closing closure with extraction mouth.The utility model avoids sample taking-up cryogenic storage tank and carries out transfer extraction into non-cryogenic environment and cause the influence to sample quality；The dosage of cryogenic nitrogen is reduced simultaneously.

Description

Biological specimen automatic access equipment

Technical field

Biological gene sample access arrangement technical field is the utility model is related to, in particular to a kind of biological specimen Automatic access equipment.

Background technology

Profound hypothermia biological sample bank is the important infrastructure device of current field of medicaments and biological field research work, passes through liquid The Cord blood of nitrogen can allow the biological tissue such as blood, stem cell and immunocyte stay active for long periods.Typically freeze-stored cell It is placed in sample tube, sample tube is placed in storage rack, is integrally placed at by storage rack in liquid nitrogen container, to realize the length of sample Phase stable preservation.

Common biological specimen access is memory block, extraction area and transmission area with automation equipment its chief component, First pass through manipulator and the test tube in memory block is transferred to extraction area, be then again sent into the test tube extracted in area by manipulator To transmission area, finally the test tube transmitted in area is sent out again.Existing memory block, extraction area are carrying to be separately provided in test tube During taking, need individually to improve the loss of cryogenic nitrogen to being filled with cryogenic nitrogen in extraction area；Extract simultaneously the temperature in area relative to The temperature of memory block is higher, therefore sample activity and quality can be impacted during test tube transfer.

Utility model content

The purpose of this utility model is to provide a kind of biological specimen automatic access equipment, with solve cryogenic nitrogen consumption it is high, Non-cryogenic environment carry out sample extraction and the problem of influence sample quality.

To realize the utility model purpose, the technical scheme used for：Biological specimen automatic access equipment, including low temperature are deposited Storage tank, the transmission storehouse being arranged on above cryogenic storage tank, the extraction mouth for connecting transmission storehouse and cryogenic storage tank；The low temperature storage Sample storage rack, sample box Zan Zhi areas are provided with tank and accesses sample box to sample storage rack in cryogenic storage tank Second manipulator；More column unit framves are placed with the sample storage rack；The first manipulator is provided with the transmission storehouse, and is passed Send to be additionally provided with storehouse and be combined with closure, the cap-opening mechanism for opening and closing closure with extraction mouth.

Further, be additionally provided with feeding-discharging mechanism in the transmission storehouse, feeding-discharging mechanism include charging pumping board, drive into Expect the charging drive mechanism of pumping board.

Further, charging aperture corresponding with feeding-discharging mechanism is offered on the warehouse in the transmission storehouse, and transmits storehouse The door opening and closing mechanism for opening and closing charging aperture is provided with warehouse.

Further, it is additionally provided with the feed mechanism coordinated with feeding-discharging mechanism outside the transmission storehouse.

Further, first manipulator is connected with grip device, and grip device includes the quick change being connected with manipulator Bindiny mechanism and the sample holder being connected with quick change bindiny mechanism, sample holder include sample box fixture and test tube fixture.

Further, the quick change bindiny mechanism includes the manipulator connecting plate being connected with manipulator, is arranged on manipulator The the first clamping jaw actuator and the second clamping jaw actuator of connecting plate both sides, the first clamping jaw is provided with the first clamping jaw actuator, One clamping jaw extends to the lower section of installing plate；The second clamping jaw is provided with the second clamping jaw actuator.

Further, it is additionally provided with fixture supporting mechanism in the transmission storehouse；The fixture supporting mechanism include base and Multiple support frames on base；Support frame as described above includes the first installing plate slided along base Y-direction, and is set on base There is the first limiting plate that Y-direction is spacing；Second installing plates of the X to slip, and the second installing plate are installed on first installing plate On be additionally provided with X to the second spacing limiting plate；Support column is also equipped with second installing plate.

Further, the X that the cap-opening mechanism includes being arranged on table top is to track and is slidably arranged in X on track Z-direction track, the link being connected with closure is provided with Z-direction track.

Further, unit frame extraction mechanism is additionally provided with the transmission storehouse, and unit frame extraction mechanism is located at carrying Take mouth corresponding.

Further, second manipulator includes horizontal pumping board, the pumping board drive device of driving pumping board translation.

The beneficial effects of the utility model are,

1. sample box Zan Zhi areas are arranged in cryogenic storage tank, it is all in cryogenic storage tank to make whole sample extraction process Interior progress, cryogenic storage tank provide good for sample to be deposited in the sample in sample storage rack and transfer sample box Low temperature environment, ensure the excellent activity of sample；The storage and extraction for realizing sample are all carried out in the good low temperature environment, are protected The more excellent quality of sample has been demonstrate,proved, sample taking-up cryogenic storage tank has been avoided and carries out transfer extraction into non-cryogenic environment and make The influence of paired samples quality；Sample is filled with cryogenic nitrogen in addition in extraction process simultaneously, reduce cryogenic nitrogen Dosage, use cost is saved.

2. accessing the second manipulator of sample box to sample storage rack by being set in cryogenic storage tank, deposited by low temperature The second manipulator in storage tank, which quickly can take out the sample box in sample storage rack, is placed on sample box Zan Zhi areas, convenient to pass Send the first manipulator in storehouse to extend into sample box Zan Zhi areas to grip the test tube in the sample box of taking-up, make to be sent to The test tube in transmission storehouse is avoided taking out the whole sample box in whole sample storage rack, made raw in test tube to need to use test tube Thing Sample preservation effect is more preferable.

3. by setting feeding mechanism in transmission storehouse, and charging corresponding with feeding mechanism is set on transmission storehouse warehouse Mouthful, charging aperture feeding mechanism when opening quickly quickly is sent to sample box and the test tube being placed in sample box In warehouse, test tube is quickly entered in low temperature environment, prevent that biological tissue is damaged in test tube, while prevent low in warehouse Warm nitrogen diffusion.

4. by setting quick change bindiny mechanism on the first manipulator, enable the first manipulator quickly to test tube fixture and sample This box fixture is changed, and makes to use first manipulator to complete the gripping to test tube, while can complete sample box Gripping, has saved the cost of equipment, while makes the space in transmission storehouse smaller, and nitrogen is filled with so that reducing in warehouse Amount.

5. by sending setting fixture supporting mechanism in storehouse in bed, fixture supporting mechanism is used to place sample box fixture and examination Pipe clamp, facilitate the manipulator of machine first that fixture is quickly placed on fixture supporting mechanism by quick change bindiny mechanism, simultaneously Facilitate manipulator to be attached with the sample box fixture or test tube fixture being placed on fixture supporting mechanism, make manipulator and sample When box fixture or test tube fixture connect, be directly attached in fixed position, facilitate manipulator quickly with sample box fixture and examination Pipe clamp connects.

6. it is convenient that closure is opened and closed by using cap-opening mechanism, make closure after opening can be quick Carry out close, prevent cryogenic storage tank liquid nitrogen be passed into transmission storehouse in, reduce cryogenic storage tank in liquid nitrogen loss, make When being extracted to the test tube in cryogenic storage tank, the temperature change in cryogenic storage tank is smaller, ensure that in cryogenic storage tank To the preservation effect of test tube.

7. it is convenient to be drawn up the unit frame in cryogenic storage tank by using unit frame extraction mechanism, coordinate simultaneously The use of second manipulator, it is convenient quickly to take out the test tube case on unit frame, make the more quick side of storage of biological specimen Just.

Brief description of the drawings

Fig. 1 is the structure chart of biological specimen automatic access equipment provided by the utility model；

Fig. 2 is the opening view of biological specimen automatic access equipment provided by the utility model；

Fig. 3 is the cut-away view that bed send storehouse；

Fig. 4 is the structure chart of cryogenic storage tank；

Fig. 5 is the structure chart in tank body in Fig. 4；

Fig. 6 is the top view of tank base；

Fig. 7 is the structural representation of the second manipulator；

Fig. 8 is the partial top view of the second manipulator；

Fig. 9 is the structure chart of door opening and closing mechanism；

Figure 10 is the structure chart of feed mechanism；

Figure 11 is into and out expecting the installation diagram of seal closure in mechanism；

Figure 12 is into and out expecting the structure chart of mechanism；

Figure 13 is the structure chart that pumping board is fed in Figure 11；

Figure 14 is grip device structure chart；

Figure 15 is the structure chart of quick change bindiny mechanism；

Figure 16 is the sectional view of the device for discharging in Figure 15；

Figure 17 is the structure chart of sample box fixture；

Figure 18 is the structure chart of sample holder；

Figure 19 is the installation diagram of jig arm in Figure 18；

Figure 20 is the structure chart of fixture supporting mechanism；

Figure 21 is the placement figure of sample holder and sample box fixture；

Figure 22 is the structure chart of unit frame extraction mechanism；

Figure 23 is the structural representation of unit frame guide in Figure 21；

Figure 24 is the structure chart of cap-opening mechanism；

Mark and corresponding parts title in accompanying drawing：

100- cryogenic storage tanks, 101- tank bodies, 102- covers, 106- metal levels, 107- heat-insulation layers, the storage of 108- samples Frame, 109- chassis, 110- unit framves, 111- balls, 112- bottoms rib, 113- ball racks, 114- first through hole；

200- transmits storehouse, 201- unit frame extraction mechanisms, 202- door opening and closing mechanisms, 203- feeding-discharging mechanisms, 204- feedings Mechanism, 205- grip devices, 206- fixture supporting mechanisms, 207- cap-opening mechanisms, the manipulators of 208- first, 209- charging apertures, 210- extracts mouth, 211- closures, 212- table tops, 213- clamshells, the through holes of 214- second；

The manipulators of 300- second, 301- sample box Zan Zhi areas, 302- pumping boards, 303- pumping board drive devices, 304- bottom plates, 305- slide plates, 306- lifting limiting through hole, 307- guide ribs, 308- section of stretching out, 309- construction sections, 310- sample box ribs, 311- sample box position limiting structures, 312- sample box bolsters, 313- sample box limiting plates, 314- slide board drive devices, 315- samples This box keeper, 316- positioning side；

The traversing plates of 401-, 402- cross sliding driving devices, 403- lifting connectors, 404- vertical drives, 405- magnets, 406- unit frame guides, 407- guid arms, 408- rolling members, 409- support frames, 410- bar holes, 411- intermediate plates, 412- Suspension member, 413- intermediate plate locating parts, 414- lifting connector locating parts, 415- guide rails, 416- drive sprockets, 417- driving-chains Wheel, 418- chains；

500- door-plates, 501- door sheet drivers, 502- fixed guide plates, 503- through holes, 504- door-plate sliding guides Structure；

600- feeds pumping board, 601- charging pumping board drive mechanisms, and 602- feeds pumping board sliding guide mechanism, and 603- chargings are taken out Plate drive device, 604- construction sections, 605- section of stretching out, 606- sample box ribs, 607- guide channels, 608- gib blocks；

701- jacking mouths, 702- sample box placing frames, 703- lifting bodies, 704- fixed plates, 705- placing frames are slided and led Stood to mechanism, 706- supports, 707- placement frame drivers, 708- mounting brackets, 709- image acquisition devices, 710- light sources, 711- Frame, 712- rotating shafts, 713- seal closures, 714- openings, 715- seal closure drive devices, 716- breach, 717- ribs；

800- quick changes bindiny mechanism, 801- sample holders, 802- sample box fixtures, 803- test tube fixtures, 804- manipulators Connecting plate, 805- the first clamping jaw actuators, 806- the second clamping jaw actuators, the clamping jaws of 807- first, the clamping jaws of 808- second, 810- connect Acting flange, 811- ring flanges, 812- pipe fittings, 813- clamping blocks, 814- devices for discharging, 815- sleeve pipes, 816- telescopic heads, 817- are unloaded Expect spring, 818- alignment pins, 819- clamp connecting plates, 820- fixture slide blocks, 821- jig arm, 822- compression springs, 823- grafting Groove, 824- positioning holes, 825- adjutages, 826- clamping faces, 827- pressure pipe structures, 828- connectors, 829- guide rods, 830- pressures Head, 831- adjustable springs, 832- fixed seats；

900- bases, 901- support frames, 902 first installing plates, the limiting plates of 903- first, the installing plates of 904- second, 905- Second limiting plate, the carriages of 906- first, the carriages of 907- second, 908- spacing breach, 909- fixture supported holes, 910- Support column；

1001-X is to track, and 1002-Z is to track, 1003- links, 1004- closure drive devices.

Embodiment

The utility model is described in further detail below by specific examples of the implementation and with reference to accompanying drawing.

A kind of biological specimen automatic access equipment provided by the utility model shown by Fig. 1 to Figure 24, including low temperature are deposited Storage tank 100, the transmission storehouse 200 for being arranged on the top of cryogenic storage tank 100, connection transmission storehouse 200 and the extraction of cryogenic storage tank 100 Mouth 210；The cryogenic storage tank 100 is provided with sample storage rack 108, sample box Zan Zhi areas 301 and in cryogenic storage tank The second manipulator 300 of sample box is accessed in 100 to sample storage rack 108；More lists are placed with the sample storage rack 108 First frame 110；The first manipulator 208 is provided with the transmission storehouse 200, and transmits to be additionally provided with storehouse 200 and matches somebody with somebody with extraction mouth 210 Conjunction has closure 211, the cap-opening mechanism 207 for opening and closing closure 211.

Cryogenic storage tank 100 is liquid nitrogen container, or other profound hypothermia storage containers.Liquid nitrogen uses suitable for small range space, with Reach profound hypothermia environment.For liquid nitrogen container compared to the sample access in freezer environment, can realize biological cell is less than -135 DEG C Profound hypothermia storage and extraction, ensured biological cell storage time and the time limit, and freezer is generally minimum reaches -80 DEG C, can not Realize the sample storage and extraction of profound hypothermia.

When will need to take out sample out of cryogenic storage tank 100, vacant transfer sample box is put into cryogenic storage tank 100 Interior sample box Zan Zhi areas 301；The sample box that need to take out sample using being placed with sample storage rack 108 as target sample box, Target sample box removes sample storage rack 108 by the second manipulator 300 in cryogenic storage tank 100.Cap-opening mechanism 207 will seal Lid 211 is opened, and is then taken out the sample tube in target sample box by the first manipulator 208 and is put into transfer sample box It is interior.After transfer, target sample box is sent in sample storage rack 108 by the second manipulator 300, and the first manipulator 208 Transfer sample box equipped with test tube is taken out into cryogenic storage tank 100 from sample box Zan Zhi areas 301 and sent out into after transmitting storehouse 200 Storehouse 200 is transmitted, cap-opening mechanism 207 drives closure 211 to be closed mouth 210 is extracted.When need by whole target sample box take out When, then it need not to take out sample tube in target sample box by using transfer sample box, can directly pass through the second machinery Hand 300 removes the target sample box in sample storage rack 108 in unit frame 110, then will be whole by the first manipulator 208 Target sample box takes out.

When needing to deposit sample tube, the sample box of storage sample tube in need will be placed as transfer sample This box, cap-opening mechanism 207 open closure 211, and the first manipulator 208 is put into sample box is shifted in cryogenic storage tank 100 Sample box Zan Zhi areas 301, the second manipulator 300 takes target sample box from the unit frame 110 in sample storage rack 108 Go out, the sample tube shifted in sample box is transferred in target sample box by the first manipulator 208.After transfer, the second machine Target sample box is put into the unit frame 110 in sample storage rack 108 by tool hand 300, and the first manipulator 208 will shift sample Box takes out cryogenic storage tank 100 and sends out transmission storehouse after entering transmission storehouse, and now cap-opening mechanism 207 drives closure 211 to carry Mouth 210 is taken to close., then need not be by transfer sample box when needing all to store the sample tube in transfer sample box Sample tube is transferred in target sample box, directly can will be shifted sample box using the first manipulator 208 and is placed into the second machinery On hand 300, then target sample box is placed into the unit frame 110 in sample storage rack 108 i.e. by the second manipulator 300 Can.

The top that target sample box and transfer sample box may be provided in cryogenic storage tank 100, also can be in middle part or bottom Deng i.e. top of the sample extraction in cryogenic storage tank 100 is carried out, and can also be carried out at middle part or bottom etc., realizes depth in tank Sample extraction under low temperature environment.

Feeding-discharging mechanism 204 is additionally provided with the transmission storehouse 200, makes the first manipulator 208 in sample box Zan Zhi areas 301 The target sample box and transfer sample box of gripping can be placed on feeding-discharging mechanism 204 after cryogenic storage tank 100 is taken out, and pass through Target sample box and transfer sample box are sent out transmission storehouse 200 by feeding-discharging mechanism 204；Send discharging mechanism 204 can also will transmit storehouse Transfer sample box outside 200 is sent in transmission storehouse 200, is then pressed from both sides by the first manipulator 208 transmitted in storehouse 200 Take.

The feeding-discharging mechanism 203 includes charging pumping board 600, the charging pumping board drive mechanism of driving charging pumping board 600 601.The charging pumping board drive mechanism 601 includes the charging pumping board sliding guide mechanism 602 being arranged in transmission storehouse 2, described Feed pumping board 600 to be arranged on charging pumping board sliding guide mechanism 602, and feed and be provided with pumping board sliding guide mechanism 602 The charging pumping board drive device 603 that driving charging pumping board 600 moves.The charging pumping board sliding guide mechanism 602 be slide rail with The cooperation of sliding block, or fixing axle form with the sliding block being slidably arranged in fixing axle；The charging pumping board 600 includes fixing Construction section 604 and the section of stretching out 605 that is connected with construction section 604 on charging pumping board sliding guide mechanism 602, and section of stretching out 605 free end has sample box rib 606；The section of stretching out 605 and construction section 604 for feeding pumping board 600 are detachably connected Split type structure, facilitate the connection of the two to install, different sample box can be matched and change different charging pumping boards 600.The pumping board drives Dynamic device 603 can be cylinder, hydraulic cylinder or other linear driving elements.It is additionally provided with the table top 212 and is moved with pumping board 600 The consistent guide channel 607 in dynamic direction, guide channel 607 include the gib block 608 of two parallel arrangements, and pumping board 600 is located at two Between individual gib block 607, the end of two gib blocks 607 is provided with position limiting structure.

The cryogenic storage tank 100 includes tank body 101 and cover 102, and first through hole 114 is offered on the cover 102； The transmission storehouse 200 includes being arranged on the table top 212 in cryogenic storage tank 100 on cover 102 and the shell on table top 212 213 are covered, second through hole 214 corresponding with first through hole 114 is offered on table top 212.The through hole of first through hole 114 and second 214 have collectively constituted extraction mouth 210.The feeding-discharging mechanism 203, the first manipulator 208, unit frame extraction mechanism 201, extraction Mouth 210 and cap-opening mechanism 207 are respectively positioned in clamshell 213.

Charging aperture 209 corresponding with feeding-discharging mechanism 203 is offered on the warehouse in the transmission storehouse 200, and transmits storehouse 200 Warehouse on be provided with door opening and closing mechanism 202 for opening and closing charging aperture 209.Entering in the feeding-discharging mechanism 203 Material pumping board 600 can move along charging aperture 209, the external part of charging pumping board 600 is extended to transmission by charging aperture 209 Outside storehouse 200.The door opening and closing mechanism 202 include be slidably mounted on transmission the side wall of storehouse 200 on door-plate 500, door-plate 500 be located at into The side of material mouth 209, and transmit and the door sheet driver 501 that driving door-plate 500 slides is additionally provided with storehouse 200.The switch Door mechanism 202 also includes the fixed guide plate 502 being arranged on the inwall of clamshell 213, offers and feeds on fixed guide plate 502 Through hole 503 corresponding to mouth 209, the door-plate 500 are slidably arranged in the inner side of fixed guide plate 502, door-plate are provided with door-plate 500 Sliding guide mechanism 504；The door sheet driver 501 can be cylinder or hydraulic cylinder, and door sheet driver 501 can be with For motor, gear is now provided with the output shaft of motor, the rack engaged with gear is installed i.e. on door-plate 500 Can.

The feed mechanism 204 coordinated with feeding-discharging mechanism 203 is additionally provided with outside the transmission storehouse 200.The feed mechanism The 204 jacking mouths 701 for including being opened on table top 212, sample box placing frame 702 corresponding with jacking mouth 701, drive sample box The lifting body 703 that placing frame 702 moves up and down.The lifting body 703 includes the fixed plate being vertically mounted on table top 212 704th, the placing frame sliding guide mechanism 705 in fixed plate 704, sample box placing frame 702 slide installed in placing frame On guiding mechanism 705.Support 706 is provided with the placing frame sliding guide mechanism 705, sample box placing frame 702 is arranged on Driving arm 706 is additionally provided with 706 on support, and on placing frame sliding guide mechanism 705 along placing frame sliding guide mechanism 705 Mobile placement frame driver 707, placement frame driver 707 are cylinder, hydraulic cylinder or other linear driving elements.It is described Mounting bracket 708 is additionally provided with fixed plate 704 in lifting body 703, and is provided with mounting bracket 708 and sample box placing frame Image acquisition device 709 corresponding to 702 and the light source 710 that illumination is provided for image acquisition device 709.The sample box placing frame 702 On be further opened with the corresponding breach 716 of charging pumping board 600, breach 716 being two, two breach 716 are respectively symmetrically arranged in On two relative edges of sample box placing frame 702；Rib 717 is additionally provided with the sample box placing frame 702, rib 717 divides Wei Yu not be on four sides of sample box placing frame 702；When breach 716 and rib are located at same one side of sample box placing frame 702, Rib 717 is located at the both sides of breach 716.

When needing to be sent to transmission storehouse 200 to the sample box being placed on sample box placing frame 702, lifting body 703 Sample box placing frame 702 is jacked upwards, now charging aperture 209 is in open mode, input and output material by door opening and closing mechanism 202 Charging pumping board 600 in mechanism 203 is protruding through charging aperture 209, with the movement of charging pumping board 600, feeds pumping board 600 Section of stretching out 605 be located at the lower section of sample box through the breach 716 on sample box placing frame 702, now lifting body 703 is by sample This box placing frame 702 moves down, and sample box is dropped down onto on charging pumping board 600, and charging pumping board 600 accepts sample box, by sample This box is sent in transmission storehouse 200, fast and easy, and it is simple to feed the undertaking mode of pumping board 600, it is simple in construction effectively, cost It is low, take up space small.Also the manipulator of purchase can be used, sample box is sent in transmission storehouse 200.

The feed mechanism 204 also includes the stand 711 for being arranged on jacking mouth 701 both sides, is set jointly in the stand 711 Rotating shaft 712 is equipped with, the seal closure 713 that jacking mouth 701 is set for cover is provided with rotating shaft 712, offers and enters on seal closure 713 Opening 714 corresponding to material mouth 209.The seal closure drive device 715 of the rotation of drive shaft 712 is additionally provided with the table top 212, Seal closure drive device 715 is coupled with rotating shaft 712 by belt transmission.

First manipulator 208 is connected with grip device 205, and grip device 205 includes being connected with the first manipulator 208 Quick change bindiny mechanism 800 and the sample holder 801 that is connected with quick change bindiny mechanism 800, sample holder 801 include sample box folder Tool 801 and test tube fixture 802.When needing to clamp sample box, quick change bindiny mechanism 800 is first arranged on the first machinery On hand 208, then by sample box fixture 802 in quick change bindiny mechanism 800, now the first manipulator 208 is to sample box Clamping；When needing to clamp the test tube in sample box, the sample box fixture 802 in quick change bindiny mechanism 800 is removed, will Test tube fixture 803 is arranged in quick change bindiny mechanism 800, and now the first manipulator 208 test tube is clamped.

The quick change bindiny mechanism 800 includes the manipulator connecting plate 804 being connected with the first manipulator 208, is arranged on machine The the first clamping jaw actuator 804 and the second clamping jaw actuator 805 of the both sides of tool hand connecting plate 804, set on the first clamping jaw actuator 804 The first clamping jaw 807 is equipped with, the first clamping jaw extends to the lower section of manipulator connecting plate 804；Set on the second clamping jaw actuator 805 It is equipped with the second clamping jaw 808.The first clamping jaw actuator 804 and the second clamping jaw actuator 805 can be clamping jaw cylinder, without bar gas Cylinder, electronic clamping jaw etc..Adpting flange 810 is provided with the manipulator connecting plate 804, machinery is realized by adpting flange 810 Connection between the manipulator 208 of hand connecting plate 804 and first.The adpting flange 810 includes ring flange 811 and is fixed on flange Pipe fitting 812 on disk 811, pipe fitting 812 are made up of multiple arcs watt, and card sets gap between two neighboring arc shaped tile.Described first Clamping block 813, manipulator connecting plate are fixedly installed on the opposite face of the clamping jaw actuator 806 of clamping jaw actuator 805 and second 804 by two clamping fixeds of clamping block 813 between the first clamping jaw actuator 805 and the second clamping jaw actuator 806, described It is in relative row that the second clamping jaw 808 on the first clamping jaw 807 and the second clamping jaw actuator 806 on one clamping jaw actuator 805, which is, Two of cloth.

The lower section of manipulator connecting plate 804 in the quick change bindiny mechanism 800 is provided with device for discharging 814, the discharging Device 814 includes the sleeve pipe 815 being fixedly mounted on manipulator connecting plate 804 and the telescopic head being movably set in sleeve pipe 815 816, the inserted terminal of telescopic head 816 is provided with limited step；Discharging spring 817, discharging spring are additionally provided with described sleeve pipe 815 817 one end pushes against with the lower surface of manipulator connecting plate 814, and the inserted terminal of the other end and telescopic head 816 of discharging spring 817 supports Tightly, the inserted terminal of telescopic head 816 is one end that telescopic head 816 is inserted into sleeve pipe 815.In the quick change bindiny mechanism 800 Alignment pin 818 straight down is also installed with manipulator connecting plate 804, is further fixedly arranged on alignment pin 818 spacing Ring.

The sample box fixture 802 and test tube fixture 803 include the clamp connecting plate for being used for the gripping of the first clamping jaw 807 819 and two fixture slide blocks 820 of the lower section of clamp connecting plate 819 are arranged on, two fixture slide blocks 820 are relative to be slided, two folders Jig arm 821 is fixedly installed on tool sliding block 802, and compression spring 822 is connected between two jig arm 821；Two institutes State the inserting groove 823 for being additionally provided with jig arm 821 and being matched with the second clamping jaw 808.The lower section of the clamp connecting plate 819 is provided with Fixed seat 832, and fixture slide block 820 is slidably mounted in fixed seat 832.Offer in the fixed seat 832 and be connected with quick change The positioning hole 824 that alignment pin 818 matches in mechanism 800.The jig arm 821 is in " 7 " type, and inserting groove 823 is located at the water of jig arm 821 Flat portion, and the horizontal part of jig arm 821 is fixedly connected with fixture slide block 820.The inserting groove 823 is located at the outer of fixture slide block 820 Side, inserting groove 823 is set to be avoided with fixture slide block 820.Two extended laterally are additionally provided with the horizontal part of the jig arm 821 Adjutage 825, and two adjutages 825 and the horizontal part of jig arm 821 form side into ringent inserting groove 823.It is described to insert The section of access slot 823 can be rectangle, trapezoidal, fan-shaped or polygon.

The clamping face 826 of jig arm 821 is plane in the sample box fixture 802, and is provided with clamping face 826 anti-skidding Pad.The clamping face 826 of jig arm 821 in the test tube fixture 803 is cambered surface, and the vertical portion of the jig arm 821 is in T-shape, folder The vertical portion of arm 821 from top to bottom tapers into, i.e., the bare terminal end of the vertical portion of jig arm 821 is inverted pyramid-shaped.The test tube Fixture 803 also includes pressure pipe structure 827；The pressure pipe structure 827 includes the connector for being fixed on the both sides of clamp connecting plate 819 828, the lower end of connector 828 is provided with two guide rods 829 moving up and down, and the lower end of guide rod 829 is fixed with pressure head 830；Also be arranged with adjustable spring 831 on the guide rod 829, the both ends of adjustable spring 831 respectively with pressure head 830, connector 828 push against.The connector 828 is in " ⊥ " type, and two guide rods 829 on each connector 828 are separately positioned on connector The both ends of horizontal part on 828, through hole is opened up on connector 828, guide rod 829 is slidably mounted in through hole, and guide rod 829 Upper end is additionally provided with limiting section., can be to the connector in pressure pipe structure 827 according to the test tube arranging situation in test tube the storage box 828 quantity are adjusted.

Fixture supporting mechanism 206 is additionally provided with the transmission storehouse 200.Fixture supporting mechanism 206 includes base 900 and peace Multiple support frames 901 on base 900；Support frame as described above 901 includes the first installing plate along base 900Y to slip 902, and the first spacing limiting plate 903 of Y-direction is provided with base 900；X is installed to slip on first installing plate 902 The second installing plate 904, and X is additionally provided with the second installing plate 904 to the second spacing limiting plate 905；Second installation Support column 910 is also equipped with plate 904.First carriage 906 is installed, and the first installing plate 902 is solid on the base 900 Dingan County is provided with the second carriage 907, and the second installing plate on the first carriage 906 on first installing plate 902 904 are fixedly mounted on the second carriage 907, and the first carriage 906 and the second carriage 907 are slide rail and sliding block Combination or guide rod and sliding block combination.Spacing breach 908 is further opened with second installing plate 904；First limit Position plate 903, section " 7 " type of the second limiting plate 905, and the horizontal position of the second limiting plate 905 is in spacing breach 908；Institute State and spacing ring is additionally provided with support column 910, on the clamp connecting plate 819 in the sample box fixture 802 and test tube fixture 803 Offer the fixture supported hole 909 matched with support column 910.

The X that the cap-opening mechanism 207 includes being arranged on table top 212 is to track 1001 and is slidably arranged in X to track Z-direction track 1002 on 1001, the link 1003 being connected with closure 211 is provided with Z-direction track 1002.The X is to rail Road 1001, Z-direction track 1002 are provided with the closure drive device that driving X slides to track 1001, Z-direction track 1002 1004, the closure drive device 1004 can be cylinder, hydraulic cylinder or other linear driving elements.Closure includes metal Layer and heat-insulation layer.

Unit frame extraction mechanism 201 is additionally provided with transmission storehouse 200, and unit frame extraction mechanism 201 is located at extracting mouth 210 correspondences.In the sample box that the second manipulator 300 will need to remove from unit frame 110 or need sample box being sent to When on unit frame 110, unit frame extraction mechanism 201 lifts unit frame 110, and the second manipulator 300 will be corresponding on unit frame 110 Sample box extract out or sample box is stored on unit frame 110, and the second manipulator 300 take out complete or storage complete Afterwards, unit frame 110 is placed into sample storage rack 108 by unit frame extraction mechanism 201 again, realizes the second manipulator 300 to sample The taking-up and storage of this box.

Unit frame extraction mechanism 201 includes traversing plate 401, slides vertically the lifting connector being arranged on traversing plate 401 403.Be moved to the top of thing to be extracted in sample tap by traversing plate 401, lifting connector 403 be connected with thing to be extracted and incite somebody to action Thing to be extracted lifts.It can be absorption type to lift connector 403, and such as lifting the bottom surface of connector 403 has the magnetic for adsorbing thing to be extracted Body 405, or the attachment structure such as clip type, realize the connection of lifting connector 403 and thing to be extracted.

Unit frame extraction mechanism 201 also includes unit frame guide 406, corresponding to be enclosed in beyond the region of objective existence to be extracted, and unit frame is oriented to Part 406 includes the corresponding guid arm 407 in beyond the region of objective existence side to be extracted, and guid arm 407 is fixed on traversing plate 401；Turn on guid arm 407 It is dynamic to be supported with multiple rolling members 408 contacted with beyond the region of objective existence facade to be extracted.Thing to be extracted is set to remain one in lifting process Locational space moves, and will not shake beat, ensure that the stable lifting of thing to be extracted, also ensure that from thing to be extracted When picking and placeing sample box, accurate latched position, thing to be extracted will not rock.Rolling member 408 is roller or bearing etc., passes through rolling member 408 are in rolling contact spacing and are oriented to thing to be extracted.

Guid arm 407 can be U-shaped, and open side is that sample box picks and places side in corresponding thing to be extracted.Rolling member 408 includes X To rolling member and Y-direction rolling member, X is vertical with the U-shaped opening direction of guid arm 407 to the axial direction of rolling member, then Y-direction rolling member is To be axially vertical with X phase rolling members；X is corresponded to and treated in the relative both sides of thing one to be extracted, Y-direction rolling member to rolling member is corresponding Another relative both sides of extract, realize the spacing of both direction, and X is formed between the periphery of rolling member and Y-direction rolling member Unit frame limition orientation space, mobile stable, resistance is small.Each rolling member 408 is corresponding with support frame 409, and rolling member 408 is installed In on support frame 409.Bar hole 410 can be opened up on support frame 409, guid arm 407 is fixed to through bar hole 410 by screw On.

Intermediate plate 411 is provided between traversing plate 401 and lifting connector 403, intermediate plate 411, which slides vertically, is arranged at horizontal stroke Plate 401 is moved, lifting connector 403, which slides vertically, is arranged at intermediate plate 411；Between plate top have support be pressed against lifting connection Suspension member 412 on first 403；The both ends that the lifting of intermediate plate 411 is corresponded on traversing plate 401 are respectively and fixedly provided with intermediate plate locating part 413, increase The stroke for having added lifting connector 403 to lift.Cross sliding driving device 402 drives traversing plate 401 to be moved on corresponding thing to be extracted Side, during decline, lifting connector 403 declines under the driving of vertical drive 404, and intermediate plate 411 is made due to gravity With following lifting connector 403 to decline together, when being down to intermediate plate locating part 413, intermediate plate 411 is pressed on centre due to gravity No longer decline on plate locating part 413, now lift connector 403 and moved down relative to intermediate plate 411, continue to decline, meet lifting The big stroke of connector 403.When being then that lifting connector 403 rises to the suspension member 412 of intermediate plate 411 in uphill process, band Dynamic intermediate plate 411 continues to rise, and when intermediate plate 411 rises to the intermediate plate locating part 413 of top, that is, outreach stroke.Carry A corresponding jacking block under suspension member 412 can individually be fixed by rising the top of connector 403.Intermediate plate 411 with lifting connector 403, And guide rail 415 is respectively provided between intermediate plate 411 and traversing plate 401, it is oriented to its lifting.

The lower end that corresponding lifting connector 403 lifts on intermediate plate 411 is fixed with lifting connector locating part 414, is used for Limitation lifting connector 403 is relative to intermediate plate 411 when moving down, lower end stroke it is spacing.Vertical drive 404 includes Motor, the drive sprocket 416 for being fixedly connected on motor output end, rotating support the top of traversing plate 401 drive sprocket 417, The chain 418 being engaged on jointly on drive sprocket 416 and drive sprocket 417, one end of chain 418 are connected to lifting connector 403, the other end is connected to upper motor installation place through drive sprocket 417 and drive sprocket 416 so that the other end of chain 418 In a high position, chain 418 is outstanding to be set, and the heap for avoiding chain 418 falls, and it is small to take its upper side space.Cross sliding driving device 402 can be the driving structure of motor screw mechanism etc..

For the rotating support of sample storage rack 108 in tank body 101, sample storage rack 108 includes chassis 109 and chassis More column unit framves 110 on 109.Bottom in tank body 101 is provided with multiple balls 111 contacted with the bottom surface of chassis 109.Tank body The settable bottom rib 112 being circumferentially arranged in bottom in 101, it is fixed for installing the ball rack 113 of ball 111 on bottom rib 112, Strengthen the polycrystalline substance intensity of tank body 101, stable support is provided to sample storage rack 108.Use after the installation of sample storage rack 108 During, ball 111 is contacted to sample and stored, the support aided in the bottom surface on chassis 109, and in sample storage rack During 108 rotation, it still is able to provide stable support, frictional force is small, reduces the rotational resistance on chassis 109.Multiple balls 111 are in Two circles arranged outside the heart, the multiple balls 111 often enclosed are circumferential uniform, in favor of rotationally supporting for chassis 109.It is whole clearly to show Body structure, three unit framves 110 in sample storage rack 108 are only illustrated in figure.

Second manipulator 300 can be fixedly attached to cover 102.Second manipulator 300 includes horizontal pumping board 302, driving The pumping board drive device 303 that pumping board 302 translates, it is extend out to using pumping board 302 below sample box, sample box is dropped down onto pumping board 302 On, pumping board 302 accepts sample box, and sample box is removed into unit frame 110, fast and easy, and pumping board 302 accepts mode letter Single, simple in construction effectively cost is low, takes up space small, is set beneficial to the upper space in tank body 101.Also purchase can be used Manipulator, by sample box retrieval unit frame 110.

Second manipulator 300 also includes bottom plate 304, is moved radially on bottom plate 304 along sample storage rack 108 and is provided with slide plate 305, pumping board 302 is arranged on slide plate 305, and the moving direction of pumping board 302 is vertical with the moving direction of slide plate 305.Pass through cunning Moving radially to realize that pumping board 302 is moved to optional position for plate 305, from the different correspondences of unit frame 110, realizes different lists Sample box in first frame 110 removes.Bottom plate 304 can be fixed on the lower end of cover 102 by rod member.

On bottom plate 304 positioned at slide plate 305 side offer along sample storage rack 108 it is radially-arranged it is multiple lifting it is spacing Through hole 306, lifting limiting through hole 306 adaptation corresponding with unit frame 110, plays position-limiting action, it is spacing that pumping board 302 extend out to lifting Sample box is picked and placeed in the unit frame 110 of through hole 306.The upper and lower surface of bottom plate 304 of lifting limiting through hole 306 edge, which is provided with, draws Sliver 307, guide ribs 307 have the guiding conical surface, i.e., guidance unit frame 110 is smooth passes through lifting limiting through hole 306.It is not provided with carrying When rising limiting through hole 306, the unit frame 110 of sample storage rack 108 is directly lifted in the sidepiece of slide plate 305, without it is spacing its Structure, carry out the sample box in sample storage rack 108 still through above-mentioned action and pick and place, see Fig. 4.Pumping board 302 can be relative to sample This box is narrower, conveniently stretches into below sample box and picks and places.

Sample box Zan Zhi areas 301 are on slide plate 305, sample box and the sample in sample box Zan Zhi areas 301 that pumping board 302 removes This box is on slide plate 305, and for pumping board 302 when any position removes sample box, the sample box in sample box Zan Zhi areas 301 is all attached Closely, not only reduce space-consuming, also allow for the extraction shifting of the test tube between the two sample box and put.

Pumping board 302 is integral structure, or Split type structure.The structure of pumping board 302 and entering in feeding-discharging mechanism 203 Expect that the structure of pumping board 600 is consistent, section of stretching out and coupled construction section can be included, section of stretching out is towards the side of external unit frame 110 One end.The section of stretching out and construction section of pumping board 302 are the Split type structure being detachably connected, and facilitate the connection of the two to install, can Different pumping boards 302 are changed with different sample box.The free end of section of stretching out 308 has sample box rib, makes moving process and takes out When plate 302 is returned on slide plate 305, sample box is stable not to drop.

The sample box position limiting structure 311 positioned at the outside of pumping board 302 is provided with slide plate 305, sample is removed for pumping board 302 Box in place when positioning and spacing, it is convenient subsequently such as the first machine to ensure the stop place of the sample box removed from unit frame 110 Tool hand 208 accurately picks and places to test tube.

Sample box position limiting structure 311 may include sample box bolster 312 and sample box limiting plate 313.The two is in mutual Plumbness, sample box bolster 312 away from the side that external part is moved outside pumping board 302, that is, are corresponded in sample box on slide plate 305 When being moved on pumping board 302 on slide plate 305, when approaching the limit position of setting, sample box is played by sample box bolster 312 Cushioning effect, avoid direct rigid collision and influence the test tube in sample box.Sample box is formd with sample box rib 310 moving Positioning on outgoing direction.Sample box limiting plate 313 is set in the side of pumping board 302 and along the moving direction of pumping board 302.

Slide plate 305 connects slide board drive device 314.One of pumping board drive device 303 and slide board drive device 314 or Both are gear-rack drive mechanism, can also use other driving components of such as cylinder, motor leading screw.Sample box is temporarily put Area 301 is provided with sample box keeper 315, and the transfer sample box being placed into tank body 101 is positioned.Sample box keeper 315 include corresponding on some positioning sides 316 of sample box outer rim.Extraction mouth 210 can be corresponded at the second manipulator 300, sealed Lid 211 is connected with cap-opening mechanism 207, mechanically opens.Cover 102 includes metal level 106 setting up and down and insulation Layer 107, closure 211 or the structure.Second manipulator 300 can be located at the heat-insulation layer 107 of extraction mouth 210.

Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.

Claims (10)

1. biological specimen automatic access equipment, it is characterised in that including cryogenic storage tank, the biography being arranged on above cryogenic storage tank Send the extraction mouth in storehouse, connection transmission storehouse and cryogenic storage tank；It is temporary that sample storage rack, sample box are provided with the cryogenic storage tank Put area and access the second manipulator of sample box to sample storage rack in cryogenic storage tank；Put in the sample storage rack It is equipped with more column unit framves；The first manipulator is provided with the transmission storehouse, and transmits to be additionally provided with storehouse and is combined with extraction mouth Closure, the cap-opening mechanism for opening and closing closure.

2. biological specimen automatic access equipment according to claim 1, it is characterised in that be additionally provided with the transmission storehouse Feeding-discharging mechanism, feeding-discharging mechanism include charging pumping board, the charging drive mechanism of driving charging pumping board.

3. biological specimen automatic access equipment according to claim 1 or 2, it is characterised in that the warehouse in the transmission storehouse On offer charging aperture corresponding with feeding-discharging mechanism, and transmit and be provided with the warehouse in storehouse for opening and closing charging aperture Door opening and closing mechanism.

4. biological specimen automatic access equipment according to claim 3, it is characterised in that be additionally provided with outside the transmission storehouse The feed mechanism coordinated with feeding-discharging mechanism.

5. biological specimen automatic access equipment according to claim 1, it is characterised in that first manipulator is connected with Grip device, grip device include the quick change bindiny mechanism being connected with manipulator and the sample being connected with quick change bindiny mechanism folder Tool, sample holder include sample box fixture and test tube fixture.

6. biological specimen automatic access equipment according to claim 5, it is characterised in that the quick change bindiny mechanism includes The manipulator connecting plate being connected with manipulator, the first clamping jaw actuator and the second clamping jaw for being arranged on manipulator connecting plate both sides drive Moving part, the first clamping jaw is provided with the first clamping jaw actuator, the first clamping jaw extends to the lower section of installing plate；Second clamping jaw drives The second clamping jaw is provided with moving part.

7. biological specimen automatic access equipment according to claim 1, it is characterised in that be additionally provided with the transmission storehouse Fixture supporting mechanism；The fixture supporting mechanism includes base and multiple support frames on base；Support frame as described above bag The first installing plate slided along base Y-direction is included, and the first spacing limiting plate of Y-direction is provided with base；First installing plate On second installing plates of the X to slip is installed, and X is additionally provided with the second installing plate to the second spacing limiting plate；Described Support column is also equipped with two installing plates.

8. biological specimen automatic access equipment according to claim 1, it is characterised in that the cap-opening mechanism includes installation X on table top is to track and is slidably arranged in X to the Z-direction track on track, is provided with what is be connected with closure on Z-direction track Link.

9. biological specimen automatic access equipment according to claim 1, it is characterised in that be additionally provided with the transmission storehouse Unit frame extraction mechanism, and unit frame extraction mechanism is positioned at corresponding with extraction mouth.

10. biological specimen automatic access equipment according to claim 1, it is characterised in that second manipulator includes The pumping board of level, the pumping board drive device of driving pumping board translation.