CN212448269U - Sample storage device - Google Patents

Abstract

The utility model relates to a sample storage device, include: the storage device is internally provided with a low-temperature environment and used for storing samples; the operating device is detachably connected with the storage device; the operation device is used for receiving a transfer tank for containing the sample, and the storage and the taking out of the sample in the storage device are completed through the transfer tank; an adjustment device for adjusting the relative position of the operating device and the storage device. The sample storage device adjusts the relative position of the storage device and the operating device through the adjusting device to realize accurate butt joint of the storage device and the operating device, can prevent repeated disassembly and assembly of the storage device and the operating device caused by inaccurate butt joint, improves the butt joint accuracy of the operating device and the storage device, improves the working efficiency, and ensures the concentration of protective atmosphere inside the sample storage device.

Description

Sample storage device

Technical Field

The utility model relates to a sample storage device technical field especially relates to a sample storage device.

Background

In the storage work of biological samples, the sample storage device is the main product type for storing samples. With the increase of the demand of refrigeration, in order to realize effective expansion of the biological sample storage area without increasing the cost too much, at present, a design that the operation device and the storage device in the sample storage device are separated, that is, a one-to-many mode that one operation device corresponds to a plurality of storage devices is generally adopted. However, in the current "one-to-many" mode, when the operation device is not accurately docked with the selected storage device, the protective atmosphere inside the docked sample storage device cannot meet the preset requirement, and the docked sample storage device is often separated and docked again until the operation device is accurately docked with the selected storage device, so that the protective atmosphere inside the docked sample storage device meets the preset requirement, and the working efficiency of the sample storage device is affected.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need to provide a sample storage device that can achieve accurate interfacing of the manipulator with the storage device.

A sample storage device, comprising:

the storage device is internally provided with a low-temperature environment and used for storing samples;

the operating device is detachably connected with the storage device; the operation device is used for receiving a transfer tank for containing the sample, and the storage and the taking out of the sample in the storage device are completed through the transfer tank;

adjusting means for adjusting the relative position of the operating means and the storage means;

a connecting device for connecting the adjusted operating device with the storage device.

Further, the sample storage device further comprises:

the sensing device is used for acquiring the storage position of the storage device and the operation position of the operation device;

and the control device is used for controlling the adjusting device according to the storage position and the operating position to adjust the relative position of the storage device and the operating device.

Further, the adjusting device includes:

the object placing table is used for bearing the operating device or the storage device;

the translation driving assembly is arranged below the object placing table, is connected with the object placing table and is used for driving the object placing table to translate;

the rotary driving assembly is arranged below the translation driving assembly, is connected with the translation driving assembly and is used for driving the translation driving assembly and the object placing table to rotate in a horizontal plane.

Further, the translation drive assembly includes:

the front and rear driving mechanism is connected with the lower surface of the object placing table and is used for driving the object placing table to move back and forth;

the left and right driving mechanism is connected with the lower surface of the front and rear driving mechanism and is used for driving the front and rear driving mechanism and the object placing table to move left and right;

and the upper and lower driving mechanism is connected with the lower surface of the left and right driving mechanism and is used for driving the front and rear driving mechanism, the left and right driving mechanism and the object placing table to move up and down.

Further, the up-down driving mechanism includes:

the lifting plate is connected with the lower surface of the object placing table;

the moving plate is arranged below the lifting plate and can translate in a horizontal plane;

the two ends of the connecting rod are respectively and rotatably connected with the lower surfaces of the moving plate and the lifting plate, and one end of the connecting rod connected with the moving plate can synchronously move with the moving plate to change an included angle between the connecting rod and a horizontal plane, so that the lifting plate connected with the other end of the connecting rod is driven to move up and down;

and the driving component is connected with the moving plate and used for driving the moving plate to translate.

Further, the driving part includes:

the upper and lower driving motors are arranged below the lifting plate;

the screw rod is arranged at the output end of the upper and lower driving motors and is driven by the upper and lower driving motors to rotate along the axis of the screw rod;

the nut is sleeved on the lead screw and is in threaded connection with the lead screw;

and one end of the upper and lower driving transmission part is connected with the nut, and the other end of the upper and lower driving transmission part is connected with the movable plate.

Further, the adjusting device further comprises:

and the leveling driving component is arranged on the lower surface of the rotary driving component and used for adjusting the included angle between the storage butt joint surface and the horizontal plane in the storage device and the included angle between the operation butt joint surface and the horizontal plane in the operation device to be the same.

Further, the storage device includes:

the tank body is a double-layer vacuum tank body;

the tank cover is arranged above the tank body and forms a closed storage cavity with the tank body; the tank cover is provided with an access port for the sample to pass through and an access cover matched with the access port; the tank cover is provided with an access protective cover, and the access protective cover movably covers the access opening;

the mechanism that opens and shuts, the mechanism that opens and shuts is used for opening and shutting storage device the access visor, the mechanism that opens and shuts includes:

the opening and closing motor is arranged on the surface of the tank cover;

one end of the connecting rod assembly is fixedly connected with an output shaft of the opening and closing motor, and the other end of the connecting rod assembly is hinged with the surface of the storing and taking protective cover;

a storage mechanism located in the storage cavity; a plurality of access positions for placing the samples are arranged on a storage rack of the storage mechanism; the number of the storage frames is at least two, and cold guide supporting tubes are arranged between the storage frames; the storage rack is provided with reinforcing ribs along the radial direction;

the storage rack is rotatably sleeved on the mounting shaft;

the rotating assembly is used for driving the storage rack to rotate by taking the mounting shaft as an axis so as to enable the access position on the storage rack to move to a position opposite to the access opening;

the fixing plate is supported and fixed between the tank cover and the storage rack, and a hollow part used for the sample to pass through in the sample storing and taking process is arranged on the fixing plate.

Further, the rotating assembly includes:

the inner gear ring is fixedly connected with the storage rack, and the axis of the inner gear ring is superposed with the axis of the mounting shaft;

the gear is meshed with the inner gear ring;

and the output end of the rotary driving motor is connected with the gear.

Further, the operation device includes:

the grillage snatchs the subassembly, the grillage snatchs the subassembly and is used for snatching the grillage, the grillage snatchs the subassembly and includes:

a jaw structure for grasping the sample;

a movement driving motor;

the clamping jaw structure moves along the driving guide rail under the driving of the moving driving motor, and the positions of the clamping jaw structure and the sample in the Z-axis direction are adjusted;

the position detection mechanism is used for detecting the grabbing position of the clamping jaw structure and sending a working instruction to the mobile driving motor according to the grabbing position of the clamping jaw structure;

an operating platform, the operating platform comprising:

the fetching cover plate is arranged at the position where the operating device accesses the sample;

and the dew point sensor is arranged on one side of the fetching cover plate and used for detecting the concentration of the protective atmosphere at the fetching cover plate.

Furthermore, a sample graphic code is arranged on the sample, and the operating platform further comprises a code scanning structure for identifying the sample graphic code; the sample graphic code is any one of a bar code and a two-dimensional code.

Further, the operation device further includes:

and the operation controller is used for controlling the movement of the plate frame grabbing component by controlling the running state of a motor of the grabbing moving component in the operation device.

Furthermore, operating means still snatchs the subassembly including the suction head that is used for absorbing the cryopreserving pipe, the suction head is grabbed and is equipped with the vision camera on the subassembly.

Further, the sample storage device further comprises an electrical docking apparatus comprising:

a first docking member provided on the operation device;

and the first butting component and the second butting component are matched to realize the electrical connection between the operating device and the storage device.

Further, the first docking member includes:

the fixed guide seat is arranged on the operating device;

a push rod; the push rod is arranged on the fixed guide seat;

a first pair of joints; the first pair of joints are arranged at the driving end of the push rod and are in sliding connection with the fixed guide seat;

the second docking member includes a second pair of tabs that mate with the first pair of tabs.

Above-mentioned sample storage equipment, dismantle storage device and operating means and assemble according to the access demand, under the prerequisite of guaranteeing storage device storage effect, realize operating means and the nimble cooperation of storage device one-to-many, adjust storage device and operating means's relative position through adjusting device simultaneously, with realize storage device and operating means's accurate butt joint, can prevent because the inaccurate storage device that leads to of butt joint and operating means's dismantlement and equipment many times, the accuracy of operating means and storage device butt joint has been improved, work efficiency is improved, the concentration of the inside protective atmosphere of sample storage equipment has been guaranteed.

Various specific structures of the present application, as well as the functions and effects thereof, will be described in further detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a perspective view of a sample storage device according to one embodiment of the present application;

FIG. 2 is a perspective view of a first perspective of an adjustment mechanism in a sample storage device according to one embodiment of the present application;

FIG. 3 is an exploded view of an adjustment mechanism in a sample storage device according to one embodiment of the present application;

FIG. 4 is a perspective view of a second perspective of an adjustment mechanism in a sample storage device according to one embodiment of the present application;

FIG. 5 is a perspective view of a docking assembly in a sample storage device according to one embodiment of the present application;

FIG. 6 is a perspective view of a storage device in a sample storage apparatus according to one embodiment of the present application;

FIG. 7 is an exploded view of a storage device in a sample storage apparatus according to one embodiment of the present application;

FIG. 8 is a cross-sectional view of a storage device in a sample storage apparatus according to one embodiment of the present application;

FIG. 9 is a perspective view of an opening and closing mechanism in a sample storage device according to one embodiment of the present application;

FIG. 10 is a perspective view of a storage mechanism in a sample storage device according to one embodiment of the present application;

FIG. 11 is an exploded view of an operating device in a sample storage device according to one embodiment of the present application;

FIG. 12 is an exploded view of an operating platform in a sample storage device according to one embodiment of the present application;

FIG. 13 is a perspective view of a grasping and moving assembly in the sample storage device according to one embodiment of the present application;

FIG. 14 is a perspective view of a rack grasping assembly in a sample storage device according to one embodiment of the present application;

FIG. 15 is a perspective view of a jaw configuration in a sample storage device according to one embodiment of the present application;

FIG. 16 is a perspective view of a tip grasping assembly in a sample storage device according to one embodiment of the present application.

In the illustration of the drawings, 100-memory devices; 110-a tank body; 120-can lid; 121-access port; 122-access cover; 123-access protection cover; 130-a storage mechanism; 131-a storage rack; 132-a storage well; 133-a storage component; 134-cold conducting support pipe; 135-reinforcing ribs; 140-a rotating assembly; 141-ring gear; 142-a gear; 143-a rotary drive motor; 150-an opening and closing mechanism; 151-switching motor; 152-a connecting-rod assembly; 160-mounting shaft; 170-fixing plate; 171-a hollowed-out portion; 180-electrical cabinets; 200-an operating device; 210-a pallet grabbing assembly; 211-jaw configuration; 2111-jaw drive motor; 2112-drive components; 2113-jaw members; 2114-jaw drive rail; 2115-slider; 212-moving the drive motor; 213-drive rail; 214-position detection means; 215-electromagnet member; 216-a gas compensation component; 2161-liquid nitrogen cup; 2162-nitrogen tube; 218-a heat-insulating outer cover; 220-a tip gripping assembly; 221-a suction head grabbing electric cylinder; 222-a tip gripping motor; 223-cold conducting pipes; 224-a liquid storage cylinder; 225-a suction head; 226-a visual camera; 230-a grasping movement assembly; 231-X axis module; 2311-X axis lead screw; 2312-X axis guide rail; a 232-Y axial guide rail; 233-Y axis slide block; 240-an operating platform; 241-an operation frame; 242-storage bucket; 243-temporary storage board; 244-temporary storage tank; 2441-temporary storage rack; 245-nitrogen soaking tank; 246-dew point sensor; 247-fetching cover plate; 248-code scanning structure; 2481-panel sweep; 2482-a code reader; 2483-a camera; 2484-bar light source; 250-a delivery capsule; 260-a transfer box; 270-operating the upper frame; 280-operating the lower frame; 300-an adjustment device; 310-object placing table; 320-a translation drive assembly; 321-a front and rear driving mechanism; 3211-a first mounting plate; 3212-a first drive motor; 3213-a first guide member; 322-left and right drive mechanism; 3221-a second mounting plate; 3222-a second drive motor; 3223-a second guide member; 323-up and down driving mechanism; 3231-lifter plate; 3232-moving the board; 3233-connecting rod; 3234-a drive member; 32341-Up and Down drive Motor; 32342-screw rod; 32343-nut; 32344 — up-down drive transmission; 330-a rotary drive assembly; 340-a laser sensor; 400-an electrical docking device; 410-a first docking component; 411-fixed guide seat; 412-a push rod; 413-a first pair of linkers; 414-docking the slider; 420-a second docking component; 421-a second pair of connectors; 500-base.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

In one embodiment, as shown in fig. 1, the sample storage apparatus comprises a storage device 100, an operation device 200, an adjustment device 300 and a connection device (not shown). The storage device 100 is a low temperature environment inside, and a sample (not shown) is stored inside. The storage device 100 is detachably connected to the manipulation device 200. The handling device 200 is used for receiving a transfer pot (not shown) for holding the sample, and storing and taking out the sample in the storage device 100 through the transfer pot. The handling device 200 may take out and store the sample to be stored in the transfer pot into the storage device 100, and the handling device 200 may also take out and place the sample to be taken out from the storage device 100 into the transfer pot, so as to take out the sample from the storage device 100 through the transfer pot. Wherein, the sample includes freezing tube (not shown) and freezing grillage (not shown) that is used for placing freezing tube, and has deposited biological sample in freezing tube. It can be understood that, cryopreserved pipe has been placed to at least one on the plate rack, and when treating the certain numerical value of the quantity of cryopreserved pipe, the accessible cryopreserved plate rack is storage in batches. The adjusting device 300 is used to adjust the relative position of the operating device 200 and the storage device 100. The connecting means is used to connect the adjusted operating device 200 with the storage device 100. Specifically, when the detached storage device 100 and the operation device 200 are required to be mounted in a butt joint manner, the relative position between the storage device 100 and the operation device 200 is adjusted by the adjusting device 300, so that the storage device 100 and the operation device 200 are precisely butted, and the sealing performance inside the sample storage device after being butted meets the preset requirement. The preset requirement may be a state that the sample storage device can maintain the protective atmosphere concentration at a preset value inside at a certain rate of protective atmosphere consumption.

In one embodiment, the connecting device is a quick-connect device, such as a snap structure respectively disposed on the operating device 200 and the storage device 100.

In one embodiment, the adjusting device 300 may be disposed below the operating device 200 or below the storage device 100.

In order to reduce the manufacturing cost of the apparatus, the adjusting device 300 is disposed below the operating device 200 in one preferred embodiment based on the matching requirement of one operating device 200 corresponding to a plurality of storage devices 100.

Further, in one preferred embodiment, the sample storage device further comprises a base 500. Wherein the base 500 is located below the adjusting device 300, and the base 500 is used for supporting the adjusting device 300.

In order to realize the movement of the storage means in the sample storage device within a large distance range from the operating means, in a preferred embodiment, the sample storage device further comprises moving means (not shown). Wherein the moving means is used to move the operating means 200 to the vicinity of the selected storage means 100. Alternatively, the moving device may move the selected storage device 100 to the vicinity of the operating device 200.

In one specific embodiment, the mobile device may be a mobile robot or a mobile cart.

In order to realize automatic docking of the operating device and the storage device, and improve docking accuracy and docking efficiency, in one preferred embodiment, the moving device is disposed below the operating device 200.

In another embodiment, the sample storage apparatus does not include a moving device, and the operating device or the storage device is manually moved by a pneumatic or electric forklift. Above-mentioned sample storage equipment, dismantle storage device and operating means and assemble according to the access demand, under the prerequisite of guaranteeing storage device storage effect, realize operating means and the nimble cooperation of storage device one-to-many, adjust storage device and operating means's relative position through adjusting device simultaneously, with realize storage device and operating means's accurate butt joint, can prevent because the inaccurate storage device that leads to of butt joint and operating means's dismantlement and equipment many times, the accuracy of operating means and storage device butt joint has been improved, work efficiency is improved, the concentration of the inside protective atmosphere of sample storage equipment has been guaranteed.

In another preferred embodiment, tracks are laid on the ground according to the positions of the storage devices 100 and the handling devices 200, wherein the tracks include a track between the handling device 200 and each storage device 100 and a track between the storage device 100 and the storage device 100. The bottom of the adjusting device 300 is provided with a moving wheel (not shown) with a rim that cooperates with the track, wherein the moving wheel cooperates with the track to guide the operating device towards the storage device. The sample operating device is simple and convenient in operation steps, the operating device can move to the storage device by selecting the corresponding track and starting the driving device, meanwhile, the moving route of the operating device is optimized, and the working efficiency is improved. In addition, the running condition of the operating device on the track is monitored, so that the running route of the operating device can be reasonably planned, the condition that the moving routes of two or more operating devices interfere when working simultaneously is avoided, and the safety is improved.

In one embodiment, the sample storage device further comprises a sensing device (not shown) and a control device (not shown). The sensing device is used for acquiring the storage position of the storage device 100 and the operation position of the operation device 200. The control device is used for controlling the adjusting device 300 to adjust the relative position of the storage device 100 and the operating device 200 according to the storage position and the operating position acquired by the sensing position.

In one embodiment, the operation limiting component and the storage limiting component are laser sensors.

In one embodiment, the sensing device includes an operation limiting member (not shown) and a storage limiting member (not shown). Wherein, the operation limiting part is arranged on the operation butting surface of the operation device 200 for butting the storage device 100, and the storage limiting part is arranged on the storage butting surface of the storage device 100 for butting the operation device 200.

In one preferred embodiment, the number of the operation limiting parts is at least three, the operation limiting parts are not on the same straight line, and the storage limiting parts correspond to the operation limiting parts in position. It will be appreciated that the correspondence of the storage spacing members to the position of the operating spacing members means that when the operating device 200 is precisely docked with the storage device 100, any one of the operating spacing members is aligned with one of the storage spacing members, respectively.

In one particular embodiment, the control device is a controller. The controller is used for controlling the adjusting device according to the operating position corresponding to the operating limiting component and the storage position corresponding to the storage limiting component, and further, the adjusting device 300 is indicated to drive the storage device 100 or the operating device 200 to move or rotate so as to adjust the relative position of the operating device 200 and the storage device 100 until the operating butt-joint surface of the operating device 200 for butting against the storage device 100 is overlapped with the storage butt-joint surface of the storage device 100 for butting against the operating device 200.

According to the sample storage equipment, the sensing device is arranged to collect the position information of the operating device and the storage device, and the control device is used for controlling the adjusting device to adjust the relative position of the operating device and the storage device according to the collected position information, so that the adjusting efficiency and the adjusting precision of the adjusting device are improved.

In one embodiment, as shown in fig. 2 and 3, the adjusting device 300 includes a placing stage 310, a translation driving assembly 320 and a rotation driving assembly 330. Wherein, put thing platform 310 and be used for placing operating means 200 or storage device 100, translation drive assembly 320 locates the below of putting thing platform 310 and links to each other with putting thing platform 310, translation drive assembly 320 is used for driving and puts thing platform 310 translation, and then drives operating means 200 or storage device 100 translation, rotation drive assembly 330 locates the below of translation drive assembly 320 and links to each other with translation drive assembly 320, and then drives translation drive assembly 320 and put thing platform 310 internal rotation in the horizontal plane. It is to be appreciated that the translation can be at least one of a back and forth translation, a side to side translation, and an up and down translation.

Above-mentioned sample storage equipment, adjusting device simple structure, the operation is easier, realizes the comprehensive regulation of translation and rotatory multiple mode, a plurality of directions, and is good to operating means or storage device position control's flexibility. Meanwhile, the translational driving assembly and the rotary driving assembly are strong in adjusting driving capability and high in adjusting precision, the position of the surface of the object placing table can be quickly adjusted and controlled to enable the operating device to be accurately butted with the storage device, operation is quick, time is saved, and therefore working efficiency is effectively improved.

In one embodiment, as shown in fig. 2 and 3, the translation driving assembly 320 includes a front-back driving mechanism 321, a left-right driving mechanism 322, and an up-down driving mechanism 323. Wherein, the front-back driving mechanism 321 is connected to the lower surface of the object placing table 310, and the front-back driving mechanism 321 is used for driving the object placing table 310 to move back and forth so as to adjust the distance between the operation butting surface of the operation device 200 and the storage butting surface of the storage device 100 in the front-back direction; the left-right driving mechanism 322 is connected with the lower surface of the front-back driving mechanism 321, and the left-right driving mechanism 322 is used for driving the front-back driving mechanism 321 and the object placing table 310 to move left and right so as to adjust the distance between the operation butt-joint surface of the operation device 200 and the storage butt-joint surface of the storage device 100 in the left-right direction; the vertical driving mechanism 323 is connected to a lower surface of the horizontal driving mechanism 322, and drives the vertical driving mechanism 321, the horizontal driving mechanism 322, and the platform 310 to move up and down, so as to adjust a distance between the operation interface of the operation device 200 and the storage interface of the storage device 100 in the vertical direction.

It is understood that the translation driving assembly 320 may be any combination of the front and rear driving mechanism 321, the left and right driving mechanism 322, and the up and down driving mechanism 323, and the sequence of the three from the lower surface of the object placing table 310 to the lower surface is not limited.

In one embodiment, as shown in fig. 2 and 3, the front-rear driving mechanism 321 includes a first mounting plate 3211 and a first driving motor 3212. The first mounting plate 3211 is disposed below the object placing table 310, the first driving motor 3212 is disposed on the surface of the first mounting plate 3211, a driving rod of the first driving motor 3212 is connected to the lower surface of the object placing table 310, and the driving rod can move in the front-back direction under the driving of the first driving motor 3212.

Specifically, after the driving rod of the first driving motor 3212 extends or retracts, the object placing table 310 may be synchronously driven to move in the front-back direction relative to the first mounting plate 3211. The first driving motor 3212 has strong driving capability and high adjustment precision, and can quickly adjust and control the front and rear positions of the operating device so as to enable the operating device to be accurately butted with the storage device, so that the operation is quick and efficient.

In one embodiment, as shown in fig. 2 and 3, the front-rear driving mechanism 321 further includes a first guide member 3213. The first guide member 3213 is disposed between the platform 310 and the first mounting plate 3211, and is configured to guide the relative movement between the platform 310 and the first mounting plate 3211. Specifically, the first guiding component 3213 provides a guide for the relative movement between the object placing table 310 and the first mounting plate 3211, so that the position of the object placing table 310 can be adjusted more smoothly, and the object placing table 310 can be prevented from deviating from the preset direction when moving.

In one embodiment, as shown in fig. 2 and 3, the first guide member 3213 includes a first cross roller rail extending in the front-rear direction, and two first rail bodies included in the first cross roller rail are respectively mounted on the object placing table 310 and the first mounting plate 3211. The cross roller guide rail is composed of two guide rail bodies with V-shaped roller paths, cylindrical rollers and the like, the cylindrical rollers which are arranged in a cross mode are arranged between the two parallel guide rail bodies, can reciprocate on the V-shaped roller path surface of the guide rail body which is subjected to precise grinding, can bear loads in all directions, and the two guide rail bodies can realize high-precision stable linear relative motion. Specifically, because two first guide rail bodies that first cross roller guide contained are installed respectively in putting thing platform 310 and first mounting panel 3211 to can provide the direction for putting the translation of thing platform 310 around, make the position control of putting thing platform 310 more smooth and stable.

To improve the stability of the object placing table 310 during the translation process, further, in one embodiment, two sets of first cross roller rails are arranged between the object placing table 310 and the first mounting plate 3211. The two sets of first cross roller guides may be reinforced.

In one specific embodiment, the left and right driving mechanism 322 includes a second mounting plate 3221 and a second driving motor 3222. Wherein, the second mounting plate 3221 is disposed below the front-back driving mechanism 321, the second driving motor 3222 is disposed on a surface of the second mounting plate 3221, a driving rod of the second driving motor 3222 is connected to a lower surface of the front-back driving mechanism 321, and the driving rod of the second driving motor 3222 is capable of moving in the front-back direction under the driving of the second driving motor 3222.

Specifically, after the driving rod of the second driving motor 3222 extends or retracts, the placing table 310 and the front-back driving mechanism 321 may be synchronously driven to move in the left-right direction with respect to the second mounting plate 3221. The second driving motor 3222 has strong driving capability and high adjustment precision, can quickly adjust and control the left and right positions of the operating device so as to enable the operating device to be accurately butted with the storage device, and is quick and efficient in operation.

In one embodiment, the left and right drive mechanism 322 further includes a second guide member 3223. The second guiding member 3223 is disposed between the front-back driving mechanism 321 and the second mounting plate 3221, and is used for guiding the object placing table 310 and the relative movement between the front-back driving mechanism 321 and the second mounting plate 3221. Specifically, the second guiding member 3223 provides a guide for the relative movement between the object placing table 310 and the front-back driving mechanism 321 and the first mounting plate 3211, so that the position of the object placing table 310 can be adjusted more smoothly, and the object placing table 310 can be prevented from deviating from the preset direction when moving.

In one embodiment, the second guide member 3223 includes a second cross roller rail extending in the left-right direction, and two second rail bodies included in the second cross roller rail are respectively mounted to the front-rear driving mechanism 321 and the second mounting plate 3221.

Further, two sets of second cross roller guides are provided side by side between the front-rear driving mechanism 321 and the second mounting plate 3221. The two sets of second cross roller guides may enhance the stability of the translation of the object table 310.

In one embodiment, as shown in fig. 3 and 4, the up-down driving mechanism 323 includes a lifting plate 3231, a moving plate 3232, a connecting rod 3233, and a driving member 3234. Wherein, the lifting plate 3231 is connected with the left and right driving mechanism 322; the moving plate 3232 is arranged below the lifting plate 3231 and can translate in a horizontal plane; two ends of a connecting rod 3233 are respectively rotatably connected with the lower surfaces of the movable plate 3232 and the lifting plate 3231, one end of the connecting rod 3233 connected with the movable plate 3232 can synchronously move with the movable plate 3232 to change an included angle between the connecting rod 3233 and a horizontal plane, so that the lifting plate 3231 connected with the other end of the connecting rod 3233 is driven to move up and down; drive member 3234 is coupled to travel plate 3232 for driving travel plate 3232 in translation.

Specifically, when there is a height difference between the operating device 200 and the storage device 100, the operating driving unit 3234 drives the moving plate 3232 to translate, one end of the connecting rod 3233 connected to the moving plate 3232 can move synchronously with the moving plate 3232 to change an included angle between the connecting rod 3233 and a horizontal plane, and at this time, the lifting plate 3231 connected to the other end of the connecting rod 3233 translates up and down to drive the left and right driving mechanism 322, the front and back driving mechanism 321, and the object placing table 310 to translate up and down. The first driving motor 3212 has strong driving capability and high adjustment accuracy, and can quickly adjust and control the vertical height position of the object placing table 310 so as to enable the operation butt joint surface on the operation device 200 and the storage butt joint surface of the storage device 100 to be located at the same height, thereby having high operation efficiency.

In one embodiment, the lifting plate 3231 is disposed below the left and right driving mechanism 322 and connected to the lower surface of the left and right driving mechanism 322, and the lifting plate 3231 is connected to the platform 310 through the left and right driving mechanism 322. Specifically, the front and rear driving mechanism 321, the left and right driving mechanism 322 and the up and down driving mechanism 323 are sequentially overlapped from top to bottom, so that the occupied plane space is small, and the movable docking device can be conveniently transported and stored.

In one embodiment, the driving member 3234 includes an upper and lower driving motor 32341, a screw rod 32342, a nut 32343, and an upper and lower driving transmission part 32344. The up-down driving motor 32341 is disposed below the lifting plate 3231, the screw rod 32342 is connected to an output end of the up-down driving motor 32341 and can rotate under the driving of the up-down driving motor 32341, the screw rod 32342 is sleeved with the nut 32343 and moves along the length direction of the screw rod 32342 when the screw rod 32342 rotates, two ends of the up-down driving transmission part 32344 are respectively connected to the nut 32343 and the moving plate 3232, and the up-down driving transmission part 32344 can move along the screw rod 32342 synchronously with the nut 32343 to drive the moving plate 3232 to move horizontally.

Specifically, the up-down driving motor 32341 drives the screw rod 32342 at the output end to rotate, and when the screw rod 32342 rotates, the nut 32343 moves along the length direction of the screw rod 32342; since the two ends of the up-down driving transmission part 32344 are respectively connected with the nut 32343 and the moving plate 3232, when one end of the up-down driving transmission part moves along the screw rod 32342 synchronously with the nut 32343, the other end drives the moving plate 3232 to move horizontally; when the moving plate 3232 translates, one end of the connecting rod 3233 connected to the moving plate 3232 can move synchronously with the moving plate 3232 to change an included angle between the connecting rod 3233 and a horizontal plane, and at the moment, the lifting plate 3231 connected to the other end of the connecting rod 3233 translates up and down to drive the object placing table 310 to translate up and down.

Above-mentioned sample storage equipment, the lifter plate lift translation is adjusted to motor, lead screw, nut driven mode, and the regulation precision is high, can regulate and control the upper and lower high position of putting the thing platform fast so that operating means and storage device accurate butt joint to can promote operating efficiency.

In one specific embodiment, the rotary driving assembly 330 includes a rotary driving motor (not shown) and a cross roller bearing, the cross roller bearing includes a fixed ring and a rotating ring which are nested, and the rotating ring is connected to the object stage 310 and can rotate under the driving action of the rotary driving motor. Specifically, the rotating ring is connected with the object placing table 310; the fixed ring of the crossed roller bearing is fixed, the rotating driving motor can drive the rotating ring to rotate relative to the fixed ring, and the rotating ring is connected with the translation driving assembly 320, so that the rotating ring can synchronously drive the translation driving assembly 320, the object placing table 310 and devices on the object placing table 310 to rotate in a horizontal plane. The device on the object stage 310 may be the operation device 200 or the storage device 100.

In other embodiments, the rotary drive assembly 330 may be a rotary bearing, a gear ring, etc., and is not limited herein.

The rotary driving motor in the sample storage device is high in adjustment precision, the object placing table can be operated to rotate to change the orientation of the operating device or the storage device by adjusting the action of the rotary driving assembly, so that the operating device can be quickly adjusted to face the storage device when docking deviation occurs between the operating device and the storage device, the adjustment flexibility is good, and the operation efficiency is high.

In one preferred embodiment, the adjusting device 300 further comprises a laser sensor 340, wherein the laser sensor is disposed on the object stage 310 for detecting the position of the object stage 310.

In one embodiment, the adjustment device 300 further comprises a leveling drive assembly (not shown) disposed on a lower surface of the rotary drive assembly 330. The leveling driving assembly is used for adjusting the storage device 100 or the operating device 200, so that an included angle between a storage docking surface in the storage device 100 and a horizontal plane and an included angle between an operating docking surface in the operating device 200 and the horizontal plane are adjusted to be the same, that is, a first projection of the storage docking surface on the horizontal plane and a second projection of the operating docking surface on the horizontal plane are the same in shape.

In one embodiment, the leveling drive assembly is a multi-point leveling drive assembly. For example, the leveling drive assembly may be any one of a 3-point leveling drive assembly, a 4-point leveling drive assembly, and a 6-point leveling drive assembly.

In order to simplify the structure of the leveling device, in one embodiment, the leveling driving assembly includes a first driving motor, a second driving motor, and a third driving motor. The driving end of the first driving motor rotates and is connected to the lower surface of the rotation driving assembly 330, the driving end of the second driving motor and the driving end of the third driving motor rotate and are connected to the lower surface of the rotation driving assembly 330 in a sliding manner, and the connecting positions of the driving end of the first driving motor, the driving end of the second driving motor and the driving end of the third driving motor and the lower surface of the rotation driving assembly 330 are located on two intersecting straight lines. The first driving motor, the second driving motor and the third driving motor adjust the height of the connecting position in the lower surface of the object placing table 310 through the movement of the driving ends of the first driving motor, the second driving motor and the third driving motor in the vertical direction, and further adjust the inclination angle of the object placing table 310 relative to the horizontal plane.

In one embodiment, the adjusting device 300 comprises a platform 310, a translation driving assembly 320, a rotation driving assembly 330 and a leveling driving assembly, wherein the translation driving assembly 320 comprises a front and rear driving mechanism 321, a left and right driving mechanism 322 and an up and down driving mechanism 323. The front and rear driving mechanism 321 is disposed on the lower surface of the platform 310, the left and right driving mechanism 322 is disposed on the lower surface of the front and rear driving mechanism 321, the up and down driving mechanism 323 is disposed on the lower surface of the left and right driving mechanism 322, and the leveling driving assembly is disposed on the lower surface of the up and down driving mechanism 323. The object placing table 310 is used for placing the operating device 200 or the storage device 100, the front-back driving mechanism 321 is used for driving the object placing table 310 to move back and forth, the left-right driving mechanism 322 is used for driving the object placing table 310 to move left and right, the up-down driving mechanism 323 is used for driving the object placing table 310 to move up and down, the rotary driving assembly 330 is used for driving the object placing table 310 to rotate on the horizontal plane, and the leveling driving assembly is used for adjusting the included angle between the object placing table 310 and the horizontal plane, so that the included angle between the operating butt-joint surface of the operating device 200. In the sample storage device, the projection of the operation butt joint surface in the horizontal plane can be completely overlapped with the projection of the storage butt joint surface in the horizontal plane through the adjusting device, and the accurate butt joint of the operation device and the storage device is also realized. To prevent interference between the operating device and the storage device during adjustment of the adjustment device, in one preferred embodiment, the rotational drive assembly 330 and the leveling drive assembly are operated first, and then the translational drive assembly 320 is operated. Alternatively, after the operation interface of the operation device and the storage interface of the storage device are adjusted to a safe distance by the translation driving assembly 320, the rotation driving assembly 330 and the leveling driving assembly are operated, and finally the translation driving assembly 320 is operated.

In one embodiment, as shown in fig. 6, 7 and 8, the storage device 100 includes a tank 110, a tank cover 120, a storage mechanism 130, a rotating assembly 140, an opening and closing mechanism 150, a mounting shaft 160 and a fixing plate 170.

The tank body 110 is a double-layer vacuum tank body, specifically, the tank body 110 is of a double-shell structure, and protective gas for providing a low-temperature environment is filled between the double shells, so that the low-temperature environment in the storage cavity can be effectively ensured, and the storage effect of the storage device on the sample is further improved.

The cover 120 is disposed above the can body 110, a sealed storage cavity (not shown) is formed between the cover 120 and the can body 110, the cover 120 is provided with an access opening 121 and an access cover 122 matched with the access opening, the access cover 122 is matched with the access opening 121 to access and seal the storage device 100, the access cover 122 is in a waist shape, and the access opening 121 is in a waist shape matched with the access cover 122. The lid 120 further includes an access cover 123, and the access cover 123 covers the surface of the access opening 121. On one hand, the storage protective cover 123 can enhance the heat preservation effect and avoid the temperature loss during normal storage; on the other hand, the access port 121 can be covered, so that the access port 121 is prevented from being directly exposed to the external environment and being easily opened by an outsider, and the safety of sample storage is improved.

The access protection cover 123 is hinged to the surface of the can lid 120 and can be opened by the opening and closing mechanism 150 to expose the access opening 121. In the sample storage device, the access protection cover 123 can be opened or closed by operating the opening and closing mechanism 150, so that manual operation is not required, and the use is convenient.

A storage mechanism 130 is located within the storage cavity for enabling placement of the sample. The storage mechanism 130 includes a storage rack 131 for storing a plurality of access positions for the samples, and the storage rack 131 is made of an aluminum alloy material. In one preferred embodiment, as shown in fig. 6, 7 and 8, the storage mechanism 130 has at least two storage shelves 131, and the cold guide support tubes 134 are disposed between the storage shelves 131. The cold conducting support pipes 134 are used to support the storage shelves 131 and conduct heat between different storage shelves to equalize the temperature throughout the storage cavity.

The storage rack 132 is provided with a honeycomb-shaped storage hole 132, and a storage part 133 for placing a sample in the storage mechanism is matched with the storage hole 132 so as to realize the storage of the sample in the storage cavity. The storage part 133 is a cavity structure with a certain depth and an open top, and the cavity structure is used for placing a sample.

As shown in fig. 7, 8 and 10, the storage rack 132 is provided with ribs 135 in a radial direction. The reinforcing ribs 135 can improve the structural stability of the storage rack 132 and prevent the storage rack 132 from being deformed due to an accidental collision.

Wherein, the storage rack 131 is rotatably sleeved on the mounting shaft 160.

The rotating assembly 140 is used for driving the storage rack 131 to rotate by taking the mounting shaft 160 as an axis, so that the access positions on the storage rack 131 are moved to positions opposite to the access port 121, and thus, the samples at all the access positions are accessed.

The storage device 100 also includes an opening and closing mechanism 150 for opening and closing the access cover 123 in the lid 120. Specifically, the opening and closing mechanism 150 includes an opening and closing motor 151 and a link assembly 152. The opening and closing motor 151 is disposed on the surface of the tank cover 120, and one end of the link assembly 152 is fixedly connected to an output shaft of the opening and closing motor 151, and the other end is hinged to the surface of the access protection cover 123. Specifically, the opening and closing motor 151 is started, the output shaft of the opening and closing motor 151 drives the connecting rod assembly 152 to rotate, and the connecting rod assembly 152 drives the access protection cover 123 to lift up to expose the access opening 121 because the other end of the connecting rod assembly 152 is hinged to the surface of the access protection cover 123. Above-mentioned sample storage device, the mechanism that opens and shuts simple structure, the operation is stable, and the motor that opens and shuts has great drive power, and can predetermine slew velocity to can open the access visor fast with predetermineeing speed, satisfy multiple access demand.

The fixing plate 170 is supported and fixed in the can 110 between the cover 120 and the storage rack 132, and a hollow portion 171 is formed on the fixing plate 170 for the storage component 133 to pass through when accessing.

In one preferred embodiment, the can lid 110 is made of a foam material, such as foam or sponge, with good thermal insulation properties.

Above-mentioned sample storage device, the double-deck vacuum tank body has improved the storage effect to the sample, drive storage mechanism through rotating assembly and rotate round the installation axle, need not open the cover only to open the less access lid of size can realize the storage of storage mechanism optional position access sample on the cover during access sample, can maintain the internal invariable storage temperature of jar on the one hand, guarantee the storage effect, on the other hand can make full use of storage cavity's storage space, storage device's storage capacity has been promoted. Meanwhile, the opening and closing of the protective cover on the tank cover are realized through the opening and closing mechanism, and the automation degree is further improved.

In one embodiment, as shown in fig. 10, the rotation assembly 140 includes a ring gear 141, a gear 142, and a rotation driving motor 143. The ring gear 141 is fixedly connected with the storage rack 131, the axis of the ring gear 141 is engaged with the mounting shaft 160, the gear 142 is engaged with the ring gear 141, and the rotary driving motor 143 is connected with the gear 142 to drive the gear 142 to rotate. Specifically, the rotating driving motor 143 is started, the rotating driving motor 143 drives the gear 142 to rotate, the gear 142 drives the ring gear 141 to rotate, and the ring gear 141 is fixedly connected with the storage rack 131, so that the storage rack 131 can be driven to synchronously rotate when the ring gear 141 rotates.

Among the above-mentioned sample storage device, the runner assembly simple structure, and the operation of drive mode is stable, and the operation precision is high, can be accurate with deposit the position removal corresponding with the access hole, realized the nimble access of optional position department in the storage device. In the sample storage device, the rotary driving motor is arranged on the outer surface of the tank cover, and the output shaft of the rotary driving motor penetrates through the tank cover and is connected with the gear. The rotary driving motor has large driving force and can preset the rotating speed, so that different access requirements can be met.

Preferably, in order to facilitate the movement of the manipulating device, in one embodiment, a wheel set (not shown) is further disposed at the bottom of the manipulating device 200, so as to improve the operability of disassembling the sample storage device and facilitate the movement of the manipulating device 200.

Preferably, in order to facilitate the movement of the operation device, in one embodiment, the bottom of the storage device 100 is further provided with a wheel set (not shown), so as to improve the operability of disassembling the sample storage device and facilitate the movement of the storage device 100.

In one embodiment, as shown in fig. 8, an electrical cabinet 180 is further disposed on the storage apparatus 100 for providing electrical support to the storage apparatus 100. The electrical cabinet 180 is disposed at a side portion of the can 110, and a storage controller is disposed in the electrical cabinet 180, and the storage controller is electrically connected to the rotation driving assembly 330 and the opening and closing mechanism 150 to control the rotation driving assembly 330 to rotate and control the access protection cover 123 to open and close. Specifically, the storage positions on the storage shelves 131 may be respectively marked and preset in the storage controller, and after the storage controller controls to open the access protection cover 123, the rotation driving assembly 330 may be controlled to rotate so that the horizontal position of the target storage position coincides with the position of the access opening 121, so that the storage position is accurately opposite to the access opening 121.

In one embodiment, the storage device 100 is further provided with a ground pin, and the storage device is firmly fixed on the ground through the ground pin.

In one embodiment, as shown in fig. 11 and 13, the operating device 200 includes a rack grabbing assembly 210, an operating platform 240, an operating upper frame 270 and an operating lower frame 280. Wherein the plate rack grabbing assembly 210 is used for grabbing the plate rack.

Specifically, the rack gripping assembly 210 includes a jaw structure 211, a movement driving motor 212, a driving rail 213, and a position detecting mechanism 214. Wherein the jaw structure 211 is used to grasp a sample. Under the driving of the moving driving motor 214, the jaw structure 211 moves along the driving rail 213, and the position of the jaw structure 211 and the sample in the Z-axis direction is adjusted. The position detection mechanism 214 is used to control the driving state of the movement driving motor 212. Specifically, the position detection mechanism 214 is configured to detect a gripping position of the gripper structure 211, and issue a work instruction to the movement drive motor 214 according to the gripping position of the gripper structure 211. Specifically, when the grasping position of the gripper structure 211 detected by the position detecting mechanism 214 reaches a preset position during the movement of the gripper structure 211 along the drive rail 213, the position detecting mechanism 214 issues a closing instruction to the movement drive motor 214, for example, the preset position is such that the grasping position of the gripper structure 211 is aligned with the sample position.

In one preferred embodiment, the position sensing mechanism 214 is a microswitch.

In one particular embodiment, as shown in fig. 14 and 15, the jaw structure 211 includes a jaw drive motor 2111, a drive feature 2112, a jaw feature 2113, a jaw drive rail 2114, a slider 2115, and a clamp arm. The transmission member 2112 is provided with an input terminal for receiving a driving force, and the transmission member 2112 converts the driving force in the extending direction of the gripper arm (not shown) received through the input terminal into a driving force perpendicular to the extending direction of the gripper arm. The transmission component 2112 is also provided with an output end for outputting the converted driving force, and the jaw component 2113 is provided on the output end. The jaw part 2113 includes a first jaw (not shown) and a second jaw (not shown), a holding space for holding the sample is provided between the first jaw (not shown) and the second jaw (not shown), the first jaw and the second jaw are driven by the transmission part 2112 to move along a direction perpendicular to the extending direction of the holding arm, and the moving directions are opposite. The movement direction is opposite to the direction of the component of the movement of the first clamping jaw and the movement of the second clamping jaw in a certain preset direction. It will be appreciated that the opposite direction of movement may result in the first jaw moving closer to the second jaw, i.e. reducing the gripping space, or the first jaw moving further from the second jaw, i.e. increasing the gripping space. The clamping jaw structure is used for grabbing the sample, and under driving motor's drive, the clamping jaw structure can move along the drive rail, and then realizes the adjustment of clamping jaw structure and sample position on the Z axle direction.

In one embodiment, the jaw drive motor 2111 is a push-pull electromagnet.

In one specific embodiment, the push-pull electromagnet is activated, the push rod in the transmission component 2112 moves downwards to push the connecting rods on two sides of the push rod to rotate, the other end of the push rod pushes the sliding block 2115 to move towards two ends of the clamping jaw driving guide rail 2114, so that the clamping jaw component is opened, when the clamping jaw component descends to a certain position and the position detection mechanism 214 touches the upper surface of the plate frame, the position detection mechanism is activated to close the push-pull electromagnet, so that the descending of the clamping jaw component is stopped, and then the sample is grabbed and transferred.

In one embodiment, the number of the driving electric cylinders in the plate frame grabbing assembly can be multiple, the corresponding clamping arms are controlled in a grading mode through the multiple driving electric cylinders, the descending stroke of the clamping jaw structure is increased, the grabbing depth of the plate frame grabbing assembly is extended, and meanwhile the storage and the taking of the plate frame in the transfer tank are simplified.

Further, as shown in fig. 14, in order to protect the sample during the sample transfer process, a gas compensation component 216 is further included in the rack grasping assembly 210, and a protective gas is stored in the gas compensation component 216. Protective gas in the heat-insulating outer cover 218 can be compensated to a preset concentration in real time through the gas compensation component 216, so that the heat-insulating outer cover 218 is always lower than a preset temperature, the clamping jaw component 2113 and a sample clamped by the clamping jaw component 2113 are always in a low-temperature environment, and the activity of the sample is further ensured.

In one embodiment, as shown in fig. 14, the gas compensation component 216 includes a liquid nitrogen cup 2161 and a nitrogen pipe 2162. Two electricity-saving jars can increase down stroke, realize snatching the degree of depth of grillage, be convenient for more draw the grillage in the transfer tank, slider type electricity jar 2451 starts, and electricity jar 2452 and fixed plate 2453, clip gradually together downstream, and when moving to a definite position, slider type electricity jar 2451 stops, and electricity jar 2452 starts, and clip subassembly 2454 continues downstream, moves to a definite position and stops to clip subassembly 2454 carries out snatching or placing the action of grillage.

In one preferred embodiment, as shown in FIG. 14, an insulating cover 218 is also provided on the outside of the jaw member 2113 to protect the sample during sample transfer. Wherein, it has the protective gas who provides the low temperature environment to fill in the heat preservation dustcoat 218 for the sample of clamping jaw part and clamping jaw part centre gripping is in the low temperature environment all the time, realizes freezing whole cold chain of depositing the grillage access in-process, has avoided freezing on the grillage and has deposited the pipe transfer process owing to expose in the normal atmospheric temperature environment and lead to the sample intensification to make sample activity reduction phenomenon in the sample fast, has guaranteed the activity of sample in the sample.

As shown in fig. 11 and 12, the operation platform 240 is disposed in the operation upper frame 270, and the operation upper frame 270 is disposed on the operation lower frame 280. The operation platform 240 includes an operation rack 241, a storage barrel 242 for temporarily storing a temporary storage tank cover and a transfer case cover, a temporary storage plate 243 for temporarily storing a plate frame, a temporary storage tank 244 for temporarily storing a freezing storage pipe, a nitrogen tank 245, a dew point sensor 246 and an object taking cover plate 247. The cover plate 247 is disposed at a position where the operating device 200 accesses the sample. Specifically, the fetching cover 247 is located above the access port of the storage device 100, and is used to block a through hole of the operation device 200 corresponding to the access port 121 of the storage device 100, so as to isolate the inside of the operation device 200 from the external environment, thereby achieving the function of isolating an external heat source. The dew point sensor 246 is used to monitor the concentration of the ambient atmosphere at the location of the access panel 247. The temporary storage tank 244 is provided with a temporary storage rack 2441 having a temporary storage position. The upper frame 270 is provided with a transfer tank, a storage barrel, a temporary storage plate, a temporary storage tank, a nitrogen tank and a placing hole corresponding to the access port. The freezing tube or the plate frame can be stained with nitrogen through the nitrogen staining tank after being taken out or before being stored, the whole cold chain in the transfer process is kept, and the activity of the sample is improved.

In one embodiment, a transfer box 260 is disposed in the transfer module 250, and a transfer pot (not shown) is disposed in the transfer box 260.

In one embodiment, the operation platform 240 further includes a code scanning structure 248 thereon. The code scanning structure 248 is used for scanning and reading the graphic code on the sample, wherein the graphic code comprises a two-dimensional code and a bar code.

In one specific embodiment, the graphic code can be a bar code on the side wall of the cryopreservation tube, and can also be a two-dimensional code on the bottom of the plate frame or the side wall.

In one particular embodiment, the code scanning structure 248 includes a transparent glass plate scanning panel 2481 positioned opposite the sample graphic code, a code reader 2482 capable of recognizing the graphic code on the sidewall of the vial, and a light source for providing a light source to illuminate the graphic code.

In another specific embodiment, the code scanning structure 248 includes a clear glass plate scan 2481 positioned opposite the sample graphic code, a camera capable of recognizing the graphic code on the bottom or side walls of the rack, and a light source for providing a light source to illuminate the graphic code.

In one of the preferred embodiments, the light source is a bar light source 2484.

In one embodiment, as shown in FIG. 16, the manipulator 200 further includes a tip grasping assembly 220 for aspirating the cryopreserved tubes. Specifically, the suction head grabbing assembly 220 comprises a suction head grabbing electric cylinder 221, a suction head grabbing motor 222, a cold guide pipe 223, a liquid storage cylinder 224, a suction head 225 and a vision camera 226. Wherein, the cold guide pipe 223 is sleeved in the liquid storage cylinder 224, a screw rod is sleeved in the cold guide pipe 223, and the screw rod is rotatably connected with a rotating shaft on the suction head grabbing motor 222. The liquid storage cylinder 224 stores liquid nitrogen to keep the frozen pipe cold, so that the whole cold chain in the storing and taking process is realized. The vision camera 226 identifies and locates the locations of the aluminum tube holes to be extracted. Specifically, snatch the electric jar 221 through the suction head and drive the suction head and snatch subassembly 220 and descend to predetermineeing the height after, start the suction head and snatch motor 222, snatch motor 222 through the suction head and stop the suction head and snatch motor 222 when motor 222 drive lead screw downstream to predetermineeing the position, produce the negative pressure in the lead screw through negative pressure joint, suction head 225 is the freezing pipe of getting under the effect of negative pressure, realizes snatching of freezing pipe.

In one embodiment, as shown in fig. 11 and 13, the handling device 200 further comprises a gripping and moving assembly 230 for moving the rack gripping assembly 210 or the tip gripping assembly 220. Specifically, the grabbing and moving assembly 230 includes an X-axis module 231, a Y-axis guide rail 232 and a Y-axis slider 233. The rack grabbing component 210 and the suction head grabbing component 220 are slidably connected with the Y-axis guide rail 232, and the X-axis module 231 is slidably connected with the Y-axis guide rail 232 through a Y-axis slider 233.

In one embodiment, the X-axis module 231 includes two X-axis screws 2311 and two X-axis guide rails 2312, and the two ends of the Y-axis guide rail 232 are slidably connected to the two X-axis modules 231 through the Y-axis sliders 233.

Specifically, the motor of one end starts on the X axle guide rail 2312, drives X axle lead screw 2311 and rotates to drive Y axle slider along X axle lead screw 2311 to X axle guide rail 2312 one end removal, first motor (not marking) on the Y axle guide rail 232 starts, and the drive grillage snatchs subassembly 210 and carries out the upward motion of Y axle, and second motor (not marking) on the Y axle guide rail 232 starts, and the drive suction head snatchs subassembly 220 and moves on Y axle.

Above-mentioned sample storage device through setting up position detection mechanism, has realized the accurate control to gripper structure removal displacement, has improved the grillage and has snatched the subassembly and snatch the precision.

To simplify the construction of the sample storage device, in one embodiment, as shown in fig. 14, the rack grasping assembly 210 further comprises an electromagnet member 215. The electromagnet part 215 is arranged on the clamping jaw structure 211, and the electromagnet part 215 is arranged below the heat preservation outer cover 2455. The electromagnet member 215 is used to grasp and move the cover in the operation device 200 and the storage device 100. Specifically, the electromagnet member 215 may be used to adsorb the transfer tank cover, the transfer tank hatch, the access cover 122, and the like when the electromagnet member 215 is energized, and place the adsorbed transfer tank cover, the transfer tank hatch, and the access cover 122 at appropriate positions when the electromagnet member 215 is de-energized. According to the sample storage device, the electromagnet part is arranged on the clamping jaw structure, the cover body in the operating device and the storage device can be grabbed and moved without an additional moving system, the device structure is simplified, meanwhile, the electromagnet part is simple in structure, and the structure of the cover opening part is also simplified.

In one embodiment, the operation device 200 further comprises an operation controller (not shown). The operation controller is configured to control the movement of the plate rack grabbing component 210 in the X-axis and Y-axis directions by controlling the operation state of the motor of the grabbing moving component 230 in the operation device 200.

In another embodiment, the manipulation controller is configured to control the movement of the tip gripping assembly 220 in the X-axis and Y-axis directions by controlling the operation state of the motor of the gripping movement assembly 230 in the manipulation device 200.

In one specific embodiment, the operation controller is a controller with a display screen or an iPad operable page.

In one embodiment, as shown in FIG. 1, the sample storage device further comprises an electrical docking apparatus 400. Electrical interface 400 includes a first interface component 410 and a second interface component 420. The first docking component 410 is disposed on the operating device 200, the second docking component 420 is disposed on the storage device 100, and the first docking component 410 and the second docking component 420 cooperate to electrically connect the operating device 200 and the storage device 100.

In the sample storage equipment, through the electric butt joint device, the requirement of the whole equipment can be met only by arranging the electric cabinet on the operating device or the storage device, the structure of the equipment is simplified, and the production cost of the equipment is reduced.

In one specific embodiment, as shown in fig. 5, the first docking member 410 includes a fixed guide 411, a push rod 412 and a first docking head 413, and the second docking member 420 includes a second docking head 421 coupled to the first docking head 413. The fixed guide seat 411 is disposed on the operating device 200, the push rod 412 is disposed on the fixed guide seat 411, and the first pair of connectors 413 is disposed at the driving end of the push rod 412 and slidably connected to the fixed guide seat 411. Specifically, when the pneumatic forklift moves the operating device 200 to the vicinity of the storage device 100, the adjusting device 300 adjusts the relative position of the operating device 200 and the storage device 100, after the adjustment is finished, the push rod 412 pushes the first pair of joints 413 to move along the fixed guide seats 411, and when the plug on the first pair of joints 413 is inserted into the second pair of joints 421, the electrical docking of the operating device 200 and the storage device 100 is realized.

In one embodiment, the first docking member 410 further comprises a docking slider 414, and the first docking head 413 is slidably connected to the fixed guide 411 through the docking slider 414.

Among the above-mentioned sample storage device, first butt joint part and second butt joint part simple structure, and butt joint stability is higher, has guaranteed the operating means after the butt joint is accomplished with the storage device butt joint, stability in the equipment use.

In one embodiment, a sample access method includes:

step 100, selecting a corresponding storage device 100 from at least two storage devices 100 according to the access requirement.

Step 200, putting the transfer pot for containing the sample into the operating device 200.

And step 300, adjusting the relative position of the storage device 100 and the operating device 200 through the adjusting device 300.

And step 400, assembling the operating device 200 with the adjusted relative position with the selected storage device 100.

In step 500, the sample is stored and taken out from the storage device 100 by the operation device 200 and the transfer pot.

Step 600, detaching the operating device 200 from the selected storage device 100, and sealing the selected storage device 100.

According to the sample access method, the storage device and the operating device are disassembled and assembled according to the access requirements, one-to-many flexible matching of the operating device and the storage device is realized on the premise of ensuring the storage effect of the storage device, and meanwhile, the relative position of the operating device and the storage device is adjusted through the adjusting device, so that the accuracy of butt joint of the operating device and the storage device is improved, the possibility of multiple butt joint is avoided, and the efficiency of sample access is improved.

In a specific embodiment, when a sample needs to be stored, the control system receives a sample warehousing task, extracts sample information according to the ex-warehouse task, and further queries a storage device identifier corresponding to a corresponding storage device according to the sample information; selecting a storage device corresponding to the storage device identifier; the operating device is driven by the moving device to move to a preset position corresponding to the selected storage device; opening a sealing device corresponding to the storage device, adjusting the relative position of the operating device and the storage device through an adjusting device, and assembling the operating device and the storage device through a quick connection device; sealing the assembly connection position and opening an access cover at the access opening; transferring the transfer tank into an operation device through a transfer cabin, and controlling an electromagnet part through a display screen to sequentially open the transfer cabin and a tank cover of the transfer tank; starting a plate frame grabbing assembly or a sucker grabbing assembly, taking out a sample in the transfer tank, pausing for a plurality of times above the code scanning structure, identifying a graphic code on the sample, and identifying and inputting a control system; the plate frame grabbing assembly or the suction head grabbing assembly transports the sample to a pretreatment tank through the X-axis module and the Y-axis guide rail, keeps the sample in a deep low-temperature environment and then transfers the sample to the upper part of the access port; the rotating assembly on the storage mechanism drives the storage rack to move to the position where the spare storage part is aligned with the access port; the plate frame grabbing component or the sucker grabbing component clamps the sample and moves to the position of the access opening, and the sample is stored; when the storage is finished, the storage device is sealed for the first time through the matching of the access cover and the access port; the storage device and the operation device are disassembled, and the access opening is sealed by the sealing device, so that secondary sealing is completed.

In one embodiment, when the sample needs to be stored, the operator 200, the adjusting device 300 and the base 500 are manually pushed by a pneumatic-electric forklift to move to one side of the storage device 100, the opening and closing motor 151 is started, and the access protective cover 123 is opened; then, the electric forklift approaches the storage device 100 slowly, the adjusting device 300 is started to adjust the relative position of the operating device 200 and the storage device 100, and when the fetching cover 247 of the operating device 200 is located right above the access opening 121 of the storage device 100, the first docking component 410 of the operating device 200 is successfully docked with the second docking component 420 of the storage device 100. Then, the plate frame grabbing component 210 or the suction head grabbing component 220 is driven by the grabbing and moving component in the operating device to move to the position right above the object taking cover plate 247, and the electromagnet component 215 below the plate frame grabbing component 210 adsorbs the object taking cover plate 247 and the access cover 122 and places the object taking cover 247 and the access cover 122 on one side of the upper frame (not shown) of the operating device 200. Placing the transfer box 260 into the transfer cabin 250, starting the rotary driving motor 143 to drive the storage rack 131 to move to the position where the vacant storage component 133 is aligned with the access port 121, moving the grillage grabbing component 210 or the suction head grabbing component 220 to the position above the transfer box 260, sucking the cover of the transfer box by the electromagnet component 215, moving the cover into the storage barrel 242, sucking the cover of the transfer tank in the transfer box 260, and placing the cover on the upper supporting corner of the storage barrel 242; the grillage snatchs subassembly 210 or suction head and snatchs subassembly 220 and draw the sample again from the transfer tank, can put unnecessary grillage temporarily in the board 243 of keeping in, then the grillage snatchs subassembly 210 and carries the grillage to stop to be located the board and sweep panel 2481 top, camera 2483 starts and sweeps yard input information, then put again on the board 243 of keeping in, the suction head snatchs subassembly 220 and removes to the board 243 top of keeping in, the suction head absorbs behind the sample, the accessible is stained with nitrogen jar 245 and is stained with nitrogen, keep the whole cold chain of transfer in-process, the rethread access opening 121 is put into storage device 100 with the sample. After the sample is stored, the access cover 122 is matched with the access port 121 to complete the first sealing of the storage device; the storage device 100 and the operation device 200 are disassembled, and the access opening 121 is sealed by the access protection cover 123, so as to complete the second sealing.

In a specific embodiment, when a sample needs to be taken out, the control system receives a sample ex-warehouse task, extracts sample information needed to be taken out according to the sample ex-warehouse task, and further queries a storage device identifier corresponding to a corresponding storage device according to the sample information; selecting a storage device corresponding to the storage device identifier; after the sealing device corresponding to the storage device is opened, the operating device is driven by the moving device to move to a preset position corresponding to the selected storage device, the relative position of the operating device and the storage device is adjusted through the adjusting device, and the operating device and the storage device are assembled through the quick connection device; the rotating assembly on the storage mechanism drives the storage rack to move to a storage part for storing the required sample to be aligned with the position of the access port; sealing the assembly connection position and opening an access cover at the access opening; transferring the transfer tank into an operation device through the transfer tank, and controlling the electromagnet part to open the transfer cabin and the cover of the transfer tank in sequence through the display screen; starting a plate frame grabbing assembly, taking out a required sample from a storage device, pausing for a plurality of times above a code scanning structure, identifying a two-dimensional code at the bottom of the sample, and identifying and inputting the two-dimensional code into a control system; the plate frame grabbing component transfers the sample to the upper part of the transfer tank through the X-axis module and the Y-axis guide rail, stores the sample in the transfer tank, and takes out the transfer tank from the transfer tank to finish the taking out of the sample; when the storage device is taken out, the storage device is sealed for the first time through the matching of the access cover and the access port; the storage device and the operation device are disassembled, and the access opening is sealed by the sealing device, so that secondary sealing is completed.

Specifically, when a sample needs to be taken out, the transfer box 260 is manually placed into the transfer cabin 250, the plate frame grabbing assembly 210 moves to the position above the transfer box 260, the electromagnet component 215 sucks the cover of the transfer tank and moves into the storage barrel 242, and then the cover of the transfer box 260 is sucked and placed on the upper supporting corner of the storage barrel 242; starting a rotary driving motor 143 to drive the storage rack 131 to move to the position where the storage part 133 where the sample is to be taken out is aligned with the access port 121; the rack grabbing assembly 210 or the suction head grabbing assembly 220 extracts the sample from the storage part 133, then the rack grabbing assembly 210 carries the sample to stay above the board scanning panel 2481, the camera 2483 is started and scans the code input information, and then the sample is placed in the transfer tank to finish the taking out of the sample.

In one embodiment, the grabbing mechanism transfers the sample to the upper part of the temporary storage device through the X-axis module and the Y-axis guide rail, stores the sample in the temporary storage device and finishes the reserved temporary storage of the sample; after temporary storage is completed, the storage device is sealed for the first time through the matching of the access cover and the access port; the storage device and the operation device are disassembled, and the access opening is sealed by the sealing device, so that secondary sealing is completed. It can be understood that after the sample is reserved and temporarily stored, the required sample can be directly taken out from the temporary storage device, and the storage efficiency is improved.

If the samples need to be reserved and extracted, the extracted samples can be temporarily placed into the temporary storage tank 244, when the samples need to be extracted, the samples in the temporary storage tank 244 are directly transferred into the transfer tank, and then the transfer tank is conveyed out through the transfer box 260 in the transfer cabin 250.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (15)

1. A sample storage device, comprising:

the storage device is internally provided with a low-temperature environment and used for storing samples;

the operating device is detachably connected with the storage device; the operation device is used for receiving a transfer tank for containing the sample, and the storage and the taking out of the sample in the storage device are completed through the transfer tank;

adjusting means for adjusting the relative position of the operating means and the storage means;

a connecting device for connecting the adjusted operating device with the storage device.

2. The sample storage device of claim 1, further comprising:

the sensing device is used for acquiring the storage position of the storage device and the operation position of the operation device;

and the control device is used for controlling the adjusting device according to the storage position and the operating position to adjust the relative position of the storage device and the operating device.

3. The sample storage device of claim 1, wherein the adjustment means comprises:

the object placing table is used for bearing the operating device or the storage device;

the translation driving assembly is arranged below the object placing table, is connected with the object placing table and is used for driving the object placing table to translate;

the rotary driving assembly is arranged below the translation driving assembly, is connected with the translation driving assembly and is used for driving the translation driving assembly and the object placing table to rotate in a horizontal plane.

4. The sample storage device of claim 3, wherein the translation drive assembly comprises:

the front and rear driving mechanism is connected with the lower surface of the object placing table and is used for driving the object placing table to move back and forth;

the left and right driving mechanism is connected with the lower surface of the front and rear driving mechanism and is used for driving the front and rear driving mechanism and the object placing table to move left and right;

and the upper and lower driving mechanism is connected with the lower surface of the left and right driving mechanism and is used for driving the front and rear driving mechanism, the left and right driving mechanism and the object placing table to move up and down.

5. The sample storage device of claim 4, wherein the up-down drive mechanism comprises:

the lifting plate is connected with the lower surface of the object placing table;

the moving plate is arranged below the lifting plate and can translate in a horizontal plane;

the two ends of the connecting rod are respectively and rotatably connected with the lower surfaces of the moving plate and the lifting plate, and one end of the connecting rod connected with the moving plate can synchronously move with the moving plate to change an included angle between the connecting rod and a horizontal plane, so that the lifting plate connected with the other end of the connecting rod is driven to move up and down;

and the driving component is connected with the moving plate and used for driving the moving plate to translate.

6. The sample storage device of claim 5, wherein the drive component comprises:

the upper and lower driving motors are arranged below the lifting plate;

the screw rod is arranged at the output end of the upper and lower driving motors and is driven by the upper and lower driving motors to rotate along the axis of the screw rod;

the nut is sleeved on the lead screw and is in threaded connection with the lead screw;

and one end of the upper and lower driving transmission part is connected with the nut, and the other end of the upper and lower driving transmission part is connected with the movable plate.

7. The sample storage device of claim 3, wherein the adjustment means further comprises:

and the leveling driving component is arranged on the lower surface of the rotary driving component and used for adjusting the included angle between the storage butt joint surface and the horizontal plane in the storage device and the included angle between the operation butt joint surface and the horizontal plane in the operation device to be the same.

8. The sample storage device of claim 1, wherein the storage means comprises:

the tank body is a double-layer vacuum tank body;

the tank cover is arranged above the tank body and forms a closed storage cavity with the tank body; the tank cover is provided with an access port for the sample to pass through and an access cover matched with the access port; the tank cover is provided with an access protective cover, and the access protective cover movably covers the access opening;

the mechanism that opens and shuts, the mechanism that opens and shuts is used for opening and shutting storage device the access visor, the mechanism that opens and shuts includes:

the opening and closing motor is arranged on the surface of the tank cover;

one end of the connecting rod assembly is fixedly connected with an output shaft of the opening and closing motor, and the other end of the connecting rod assembly is hinged with the surface of the storing and taking protective cover;

the storage mechanism is positioned in the storage cavity, and a storage rack of the storage mechanism is provided with a plurality of access positions for placing the samples; the number of the storage frames is at least two, and cold guide supporting tubes are arranged between the storage frames; the storage rack is provided with reinforcing ribs along the radial direction;

the storage rack is rotatably sleeved on the mounting shaft;

the rotating assembly is used for driving the storage rack to rotate by taking the mounting shaft as an axis so as to enable the access position on the storage rack to move to a position opposite to the access opening;

the fixing plate is supported and fixed between the tank cover and the storage rack, and a hollow part used for the sample to pass through in the sample storing and taking process is arranged on the fixing plate.

9. The sample storage device of claim 8, wherein the rotation assembly comprises:

the inner gear ring is fixedly connected with the storage rack, and the axis of the inner gear ring is superposed with the axis of the mounting shaft;

the gear is meshed with the inner gear ring;

and the output end of the rotary driving motor is connected with the gear.

10. The sample storage device of claim 1, wherein the manipulation means comprises:

the grillage snatchs the subassembly, the grillage snatchs the subassembly and is used for snatching the grillage, the grillage snatchs the subassembly and includes:

a jaw structure for grasping the sample;

a movement driving motor;

the clamping jaw structure moves along the driving guide rail under the driving of the moving driving motor, and the positions of the clamping jaw structure and the sample in the Z-axis direction are adjusted;

the position detection mechanism is used for detecting the grabbing position of the clamping jaw structure and sending a working instruction to the mobile driving motor according to the grabbing position of the clamping jaw structure;

an operating platform, the operating platform comprising:

the fetching cover plate is arranged at the position where the operating device accesses the sample;

and the dew point sensor is arranged on one side of the fetching cover plate and used for detecting the concentration of the protective atmosphere at the fetching cover plate.

11. The sample storage device of claim 10, wherein the sample is provided with a sample graphic code, and the operation platform further comprises a code scanning structure for identifying the sample graphic code; the sample graphic code is any one of a bar code and a two-dimensional code.

12. The sample storage device of claim 10, wherein the manipulation apparatus further comprises:

and the operation controller is used for controlling the movement of the plate frame grabbing component by controlling the running state of a motor of the grabbing moving component in the operation device.

13. The sample storage device of claim 1, wherein the manipulator apparatus further comprises a tip grasping assembly for grasping the vial, the tip grasping assembly having a vision camera disposed thereon.

14. The sample storage device of claim 1, further comprising an electrical docking apparatus, the electrical docking apparatus comprising:

a first docking member provided on the operation device;

and the first butting component and the second butting component are matched to realize the electrical connection between the operating device and the storage device.

15. The sample storage device of claim 14, wherein the first docking component comprises:

the fixed guide seat is arranged on the operating device;

a push rod; the push rod is arranged on the fixed guide seat;

a first pair of joints; the first pair of joints are arranged at the driving end of the push rod and are in sliding connection with the fixed guide seat;

the second docking member includes a second pair of tabs that mate with the first pair of tabs.

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