CN220744523U - Automatic change sample low temperature and transport storage system - Google Patents

Abstract

The utility model discloses an automatic sample low-temperature transfer and storage system which comprises a transfer butt joint robot and sample storage equipment, wherein the transfer butt joint robot is provided with an automatic transfer shoe, the sample storage equipment is provided with an automatic receiving shoe, and the height of the automatic transfer shoe can be changed according to the height of the automatic receiving shoe of the sample storage equipment. The automatic conveying crawler frame and the biological sample tube can be placed into the liquid nitrogen tank for refrigeration, so that the activity of a positive sample is ensured, and the sample is enabled to be consistently in a cold chain process without manual operation and pollution to cells in a transfer process.

Description

Automatic change sample low temperature and transport storage system

Technical Field

The utility model relates to the technical field of biological medical treatment, in particular to an automatic sample low-temperature transportation and storage system.

Background

In the biomedical field, sample cryopreservation apparatuses are used for storing biological samples of blood samples, vaccines, bacterial strains, etc. at low temperatures, and keeping the samples in liquid nitrogen for long-term active preservation. The device is provided with a plurality of sample boxes, a plurality of test tubes are arranged and stored in the sample boxes, and samples to be stored are in the test tubes.

In the existing freezing equipment, the whole sample box is stored and taken out, when individual test tubes need to be taken out, the sample box with the test tubes can only be taken out from the equipment, and the required test tubes can be taken out at room temperature, so that other unused samples in the sample box can be damaged. There are also individual storage devices that have a tube picking function to pick the desired tube from the cassette and place it in a target sample cassette that is specially used to place the tube that needs to be removed, so that the activity of other unused samples is not affected.

However, hospitals or research institutions generally need to store a large amount of samples through a plurality of storage devices, and need to manually dock a plurality of storage devices, so that the problem of cell pollution caused by manual operation is easily caused, the docking efficiency of the samples is reduced, and meanwhile, the problem of whole-course cold chain in the process of transferring the samples cannot be completely guaranteed, so that an automatic biological sample low-temperature storage system is urgently needed.

Disclosure of Invention

This section is intended to outline some aspects of embodiments of the utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the utility model, which should not be used to limit the scope of the utility model.

The present utility model has been made in view of the above-mentioned or existing problems occurring in the prior art.

Therefore, the utility model aims to provide an automatic sample low-temperature transfer storage system which can enable a transfer docking robot to automatically dock a plurality of groups of sample storage devices, and the state of a whole-course cold chain is kept in the transfer process, so that the sample storage devices can automatically store samples into liquid nitrogen, and the situation of cell pollution can not occur.

In order to solve the technical problems, the utility model provides the following technical scheme: an automatic change sample low temperature and transport storage system, it includes transport docking robot and sample storage equipment, transport docking robot is provided with automatic transportation track, sample storage equipment is provided with automatic receiving track, automatic transportation track can be according to the automatic height that receives track of sample storage equipment and change the height.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the automatic transport track comprises a transport track, the automatic receiving track comprises a receiving track, and the transport track can be movably in butt joint with the receiving track.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the transfer docking robot further comprises a jacking component, wherein the jacking component can lift and lower the automatic transfer track;

the jacking component comprises a vertical sliding rail, a guide sliding block and a lifting plate;

the guide sliding block is fixedly connected with the lifting plate, the guide sliding block is in sliding connection with the vertical sliding rail, the guide sliding block can move up and down under the drive of the jacking motor, and the lifting plate is arranged below the automatic conveying track.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the transfer docking robot further comprises a cover opening manipulator, a plate frame manipulator, a transfer frame, rolling wheels, a first plate frame storage groove and a robot emergency button;

the transportation frame is connected with the rolling wheel, and the top of transportation frame is provided with uncapping manipulator and grillage manipulator respectively, and transportation frame can support transportation track and jacking subassembly, and transportation frame top is provided with first grillage storage tank, sets up robot emergency button on the transportation frame shell.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the sample storage device also comprises a butt joint cavity, a transfer tank jacking assembly and a crawler support frame;

the track support frame is arranged in the butt joint cavity, the track support frame can support the centering tank lifting assembly and the automatic receiving track, and a notch is formed in the upper end of the butt joint cavity.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the transfer tank lifting assembly comprises a transfer tank lifting plate, a lifting support plate, a lifting screw rod, a transfer tank lifting plate motor and a transfer tank;

the jacking backup pad is connected with the track support frame, and transfer jar lifter plate sets up in the top of jacking backup pad, and the jacking lead screw passes the jacking backup pad and is connected with transfer jar lifter plate, and jacking lead screw and jacking backup pad screw-thread fit connection, transfer jar lifter plate motor support the jacking lead screw, and transfer jar can be placed to transfer jar lifter plate top.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the sample storage device also comprises an operation cavity, a movable grabbing component, a butt joint turnover plate and a liquid nitrogen cabin door switch component;

an operation cavity is arranged above the butt joint cavity, a movable grabbing component is arranged in the operation cavity, and a butt joint turnover plate and a liquid nitrogen cabin door switch component are arranged;

the operation cavity comprises a cavity shell and an operation plate, the operation plate is connected with the butt joint cavity, the cavity shell is arranged above the operation plate, and the cavity shell and the operation plate form an operation space.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the movable grabbing component comprises an X axis, a Y axis, an X axis supporting shaft, a plate frame clamping jaw, a sampling tube clamping jaw, a Z axis first supporting shaft and a Z axis second supporting shaft;

the X-axis can be in sliding connection on the Y-axis, the X-axis supporting shaft can be in sliding connection on the X-axis, the X-axis supporting shaft is connected with a Z-axis first supporting shaft and a Z-axis second supporting shaft, the lower ends of the Z-axis first supporting shaft and the Z-axis second supporting shaft are respectively connected with a plate rack clamping jaw and a sampling tube clamping jaw, the Z-axis first supporting shaft can drive the plate rack clamping jaw to slide up and down with the X-axis supporting shaft, and the Z-axis second supporting shaft can drive the sampling tube clamping jaw to slide up and down with the X-axis supporting shaft.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the notch is offered on the operation panel, and notch position and the size that notch on the operation panel and butt joint chamber upper end were offered are unanimous, and butt joint flip board sets up on the operation panel, and the notch on the operation panel can be opened or closed to the flip board of butt joint.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the liquid nitrogen cabin door switch assembly comprises a cabin door Y shaft, a cabin door Z shaft supporting shaft and a cabin door channel opening;

the cabin door Y shaft is arranged on the operation plate, the cabin door Z shaft supporting shaft can slide on the cabin door Y shaft, the cabin door Z shaft can slide up and down on the cabin door Z shaft supporting shaft, the cabin door Z shaft is connected with the cabin door, and the operation plate is provided with a cabin door passage opening.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the sample storage device also comprises a liquid nitrogen tank body, a tank body wheel set, a liquid nitrogen valve set, a storage rack assembly, a shovel disk assembly, a nitrogen spraying pipe, a disk and a second plate rack storage groove;

the liquid nitrogen jar body sets up in the below of operation panel, jar body group sets up in the below of the liquid nitrogen jar body, liquid nitrogen valve group sets up in the side of the liquid nitrogen jar body, storage rack assembly and shovel dish subassembly set up in the liquid nitrogen jar body, spout the nitrogen pipe and can spout nitrogen cooling to board rack clamping jaw and sampling tube clamping jaw, the internal liquid nitrogen's of liquid nitrogen valve group steerable liquid nitrogen jar capacity, the disc sets up in storage rack assembly top, be provided with second grillage storage tank on the disc, spout the nitrogen pipe setting on the disc and set up in hatch door passway below.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the storage rack assembly comprises a storage rack, a first storage tank, a second storage tank, a plate rack disc and a sampling tube disc;

the storage rack is provided with a first storage groove and a second storage groove, and the first storage groove and the second storage groove respectively contain a plate rack disc and a sample tube disc.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the shovel disc assembly comprises a shovel disc rotating shaft, a shovel disc and a shovel disc central shaft;

the shovel disc rotating shaft can drive the shovel disc and the shovel disc central shaft to rotate under the drive of the motor, and the shovel disc can drive the shovel disc to slide up and down along the shovel disc central shaft under the drive of the motor.

As a preferred embodiment of the automated sample cryogenic transfer storage system of the present utility model, wherein: the sample storage device also comprises a device shell, a display screen, a flip type operation panel, an observation window and a storage device emergency button;

the equipment shell is arranged outside the operation cavity, a display screen and a flip type operation panel are arranged on the equipment shell, a storage equipment emergency button is arranged on the outer side of the equipment shell, and observation windows are arranged on the operation cavity and the equipment shell.

The automatic sample low-temperature transportation and storage system has the beneficial effects that: according to the utility model, the automatic conveying crawler on the transfer docking robot is docked with the automatic receiving crawler in the sample storage device, the height of the automatic conveying crawler can be adjusted through the jacking component according to the height of the automatic receiving crawler, the transfer tank received by the automatic receiving crawler can be grabbed by the sample storage device, the biological plate frame and the biological sample tube in the transfer tank are placed into the liquid nitrogen tank for refrigeration, the activity of the sample is ensured, and the sample is enabled to be in a cold chain process consistently in the transfer process without manual operation, so that the cell pollution is avoided.

In view of the need to adjust the height of the automated transport track on the transfer docking robot during use to match sample storage devices of different heights, the inventors have discovered a storage docking method.

In order to solve the problem of how to quickly match the automatic receiving track on the sample storage device, the utility model provides the following technical scheme: comprises an automated sample cryogenic transfer storage system, and the steps of,

s1, a transfer docking robot judges the height of an automatic receiving track on sample storage equipment;

s2, if the height of the automatic receiving track is higher than that of the automatic transporting track, the jacking component drives the automatic transporting track to ascend until the heights of the automatic transporting track and the automatic receiving track are level;

s3, if the height of the automatic receiving track is lower than that of the automatic transporting track, the jacking component drives the automatic transporting track to descend until the heights of the automatic transporting track and the automatic receiving track are level;

s4, after the height is flush, the automatic conveying track can drive the transfer tank to be in butt joint with the automatic receiving track, so that the transfer tank is transferred from the transfer butt joint robot to the sample storage equipment.

In summary, after the height of the automatic receiving track is judged and identified through the transfer docking robot, the height of the automatic transporting track above the transfer docking robot can be adjusted through the jacking component, so that the heights of the automatic transporting track and the automatic receiving track are consistent, the transfer tank is transferred to the automatic receiving track through the automatic transporting track, the automatic transporting track on the transfer docking robot can dock multiple groups of sample storage devices, the height of the automatic transporting track can be automatically adjusted according to the height of the automatic receiving track, the heights of the automatic transporting track and the automatic receiving track are consistent, and the transfer tank is convenient to transfer.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:

FIG. 1 is an overall schematic diagram of an automated sample cryogenic transfer storage system.

FIG. 2 is a schematic diagram of a sample storage device of an automated sample cryogenic transfer storage system.

FIG. 3 is a schematic diagram of a transfer docking robot of an automated sample cryogenic transfer storage system.

FIG. 4 is a schematic diagram of a jacking assembly of an automated specimen cryogenic transfer storage system.

FIG. 5 is a schematic view of a hidden device housing of a sample storage device of an automated sample cryogenic transfer storage system.

FIG. 6 is a schematic diagram of a docking chamber of an automated sample cryogenic transfer storage system.

Fig. 7 is a schematic diagram of a transfer pot lift assembly of an automated sample cryogenic transfer storage system.

FIG. 8 is a schematic diagram of a mobile gripper assembly of an automated sample cryogenic transfer storage system.

FIG. 9 is an enlarged schematic view of a mobile gripper assembly of an automated sample cryogenic transfer storage system.

FIG. 10 is a schematic diagram of a liquid nitrogen port switch assembly of an automated sample cryogenic transfer storage system.

FIG. 11 is a schematic diagram of a storage rack assembly of an automated specimen cryogenic transfer storage system.

FIG. 12 is a top view of a storage rack of an automated specimen cryogenic transfer storage system.

FIG. 13 is an exploded schematic view of a shovel disk assembly of an automated specimen cryogenic transfer storage system.

FIG. 14 is a schematic view of a rack tray of an automated sample cryogenic transfer storage system.

FIG. 15 is a schematic view of a coupon tray of an automated sample cryogenic transfer storage system.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present utility model is not limited to the specific embodiments disclosed below.

Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the utility model. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1, an automated sample low-temperature transfer and storage system is provided in a first embodiment of the present utility model, which includes a transfer docking robot 1 and a sample storage device 2, the transfer docking robot 1 is provided with an automatic transfer shoe 11, the sample storage device 2 is provided with an automatic receiving shoe 21, a transfer pot and the sample storage device 2 can be docked by the transfer docking robot 1, the height of the automatic transfer shoe 11 can be adjusted according to the height of the automatic receiving shoe 21, and after the height is consistent, the transfer pot can be transferred and docked into the automatic receiving shoe 21 through the automatic transfer shoe 11, so that a biological sample is stored in the sample storage device 2 for refrigeration.

Specifically, including transporting butt joint robot 1 and sample storage device 2, transport butt joint robot 1 is provided with automatic transportation track 11, and sample storage device 2 is provided with automatic receiving track 21, and automatic transportation track 11 can change the height according to the height of automatic receiving track 21 of sample storage device 2.

In summary, the automatic transporting crawler 11 on the transfer docking robot 1 is docked with the automatic receiving crawler 21 in the sample storage device 2, the height of the automatic transporting crawler 11 can be adjusted through the jacking component 12 according to the height of the automatic receiving crawler 21, the transfer tank received by the automatic receiving crawler 21 can be grabbed by the sample storage device 2, the biological plate frame and the biological sample tube in the transfer tank are placed into the liquid nitrogen tank for refrigeration, the activity of the samples is ensured, and the samples are enabled to be in the cold chain process consistently in the transfer process without manual operation and no cell pollution.

Example 2

Referring to fig. 1 to 15, in the above embodiment, an automated sample low-temperature transfer and storage system includes a transfer docking robot 1 and a sample storage device 2, the transfer docking robot 1 is provided with an automatic transfer shoe 11, the sample storage device 2 is provided with an automatic receiving shoe 21, a transfer pot and the sample storage device 2 can be docked by the transfer docking robot 1, the height of the automatic transfer shoe 11 can be adjusted according to the height of the automatic receiving shoe 21, and after the height is consistent, the transfer pot can be transferred and docked into the automatic receiving shoe 21 through the automatic transfer shoe 11, so that biological samples can be stored in the sample storage device 2 for refrigeration.

Specifically, including transporting butt joint robot 1 and sample storage device 2, transport butt joint robot 1 is provided with automatic transportation track 11, and sample storage device 2 is provided with automatic receiving track 21, and automatic transportation track 11 can change the height according to the height of automatic receiving track 21 of sample storage device 2.

Further, the automatic conveyor track 11 includes a conveyor track 111, the automatic receiving track 21 includes a receiving track 211, and the conveyor track 111 is movable to interface with the receiving track 211.

Preferably, the receiving track 211 is rotatable under the drive of a motor, and the transporting track 111 is rotatable under the drive of a motor.

Further, the transfer docking robot 1 further comprises a jacking component 12, and the jacking component 12 can lift and lower the automatic transfer track 11;

the jacking assembly 12 comprises a vertical sliding rail 1201, a guide sliding block 1202 and a lifting plate 1203;

the guide sliding block 1202 is fixedly connected with the lifting plate 1203, the guide sliding block 1202 is in sliding connection with the vertical sliding rail 1201, the guide sliding block 1202 can move up and down under the drive of the jacking motor, and the lifting plate 1203 is arranged below the automatic conveying track 11.

Preferably, the transportation track 111 can slide up and down along the vertical sliding rail 1201, the jacking motor can drive the screw rod to rotate through the belt wheel, the guide sliding block 1202 is in threaded fit connection with the screw rod, and the vertical sliding rail 1201 can support the screw rod.

Further, the transfer docking robot 1 further comprises an uncovering manipulator 13, a grillage manipulator 14, a transfer rack 15, a rolling wheel 16, a first grillage storage groove 17 and a robot emergency button;

the transportation frame 15 is connected with the rolling wheel 16, and the top of transportation frame 15 is provided with uncapping manipulator 13 and grillage manipulator 14 respectively, and transportation frame 15 can support transportation track 111 and jacking subassembly 12, and transportation frame 15 top is provided with first grillage storage tank 17, sets up robot emergency button on the transportation frame 15 shell.

Preferably, the robot emergency button can be pressed under emergency, the transfer docking robot 1 can move at will, can dock with sample storage devices 2 with different heights, and is in a cold chain state consistently, so that the situation that cells are damaged due to manual docking is avoided.

It should be noted that, the gripping jaw on the uncapping manipulator 13 can open the upper cover of the transfer tank 2305, the rack manipulator 14 can put the rack of biological samples into the transfer tank 2305, and the rack manipulator 14 can also grasp the liquid nitrogen pipe and place liquid nitrogen towards the transfer tank 2305, the first rack storage tank 17 can temporarily place biological racks, the uncapping manipulator 13 and the rack manipulator 14 are both provided with visual recognition modules, the position of the object can be clearly perceived, and the height of the receiving track 211 can also be detected, the height of the transporting track 111 is adjusted according to the height of the receiving track 211, the lifting motor can drive the lead screw to rotate through the belt pulley, the lead screw drives the guide slide block 1202 to move, the guide slide block 1202 drives the lifting plate 1203 to slide along the vertical slide rail 1201, the lifting plate 1203 drives the transporting track 111 to slide up and down along the vertical slide rail 1201, and lifting is realized, and when the transporting track 111 is consistent with the receiving track 211, the transporting track 111 can be rotated to butt-joint the transfer tank 2305 to the receiving track 211.

Further, the sample storage device 2 further comprises a docking cavity 22, a transfer pot lifting assembly 23 and a track support frame 24;

a track support frame 24 is arranged in the butt joint cavity 22, the track support frame 24 can support the centering pot lifting assembly 23 and the automatic receiving track 21, and a notch is formed in the upper end of the butt joint cavity 22.

Preferably, the track support 24 may support the receiving track 211.

Further, the transfer tank lifting assembly 23 comprises a transfer tank lifting plate 2301, a lifting support plate 2302, a lifting screw 2303, a transfer tank lifting plate motor 2304 and a transfer tank 2305;

jacking backup pad 2302 is connected with track support frame 24, transfer jar lifter plate 2301 sets up in the top of jacking backup pad 2302, and jacking lead screw 2303 passes jacking backup pad 2302 and is connected with transfer jar lifter plate 2301, and jacking lead screw 2303 and jacking backup pad 2302 screw-thread fit are connected, and transfer jar lifter plate motor 2304 supports jacking lead screw 2303, and transfer jar 2305 can be placed to transfer jar lifter plate 2301 top, and jacking backup pad 2302 and track support frame 24 fixed connection.

It should be noted that, the track support frame 24 may support the transfer tank lifting plate 2301, the receiving track 211 drives the transfer tank 2305 to enter the upper end surface of the transfer tank lifting plate 2301, then the transfer tank lifting plate motor 2304 drives the jacking screw 2303 to rotate, the jacking screw 2303 rotates to be in threaded fit with the jacking support plate 2302, the jacking screw 2303 ascends, so as to drive the transfer tank lifting plate 2301 to ascend, the jacking screw 2303 does not drive the transfer tank lifting plate 2301 to rotate when rotating, and the guiding column limits the rotation of the guiding column, and the jacking screw 2303 only drives the transfer tank lifting plate 2301 to ascend; of course, other lifting modes can be adopted, and only the transfer tank lifting plate 2301 needs to be lifted finally, and the transfer tank lifting plate 2301 drives the transfer tank 2305 to vertically lift.

Further, sample storage device 2 further comprises an operating chamber 41, a mobile gripping assembly 25, a docking flap 26, and a liquid nitrogen hatch switch assembly 27;

an operation cavity 41 is arranged above the butt joint cavity 22, a movable grabbing component 25, a butt joint flip plate 26, a liquid nitrogen cabin door switch component 27 and a code sweeping mechanism are arranged in the operation cavity 41;

the operation chamber 41 includes a chamber housing and an operation panel 4101, the operation panel 4101 is connected to the docking chamber 22, the chamber housing is provided above the operation panel 4101, and the chamber housing and the operation panel 4101 form an operation space.

Preferably, the upper portion of the docking chamber 22 is fixedly connected to the operation panel 4101.

Further, the mobile grasping assembly 25 includes an X-axis 2501, a Y-axis 2502, an X-axis support shaft 2503, a rack jaw 2504, a cuvette jaw 2505, a Z-axis first support shaft 2506, a Z-axis second support shaft 2507;

x-axis 2501 can be connected with Y-axis 2502 in a sliding manner, X-axis support shaft 2503 can be connected with X-axis 2501 in a sliding manner, X-axis support shaft 2503 is connected with Z-axis first support shaft 2506 and Z-axis second support shaft 2507, lower ends of Z-axis first support shaft 2506 and Z-axis second support shaft 2507 are respectively connected with plate rack clamping jaw 2504 and sampling tube clamping jaw 2505, Z-axis first support shaft 2506 can drive plate rack clamping jaw 2504 to slide up and down with X-axis support shaft 2503, and Z-axis second support shaft 2507 can drive sampling tube clamping jaw 2505 to slide up and down with X-axis support shaft 2503.

Preferably, the Y-axis 2502 is fixedly connected with the operation plate 4101, the motor can drive the gear plate on the side surface of the first Z-axis support shaft 2506 through the gear, so that the first Z-axis support shaft 2506 is connected up and down along the X-axis support shaft 2503 in a sliding manner, the motor can drive the gear plate on the side surface of the second Z-axis support shaft 2507 through the gear, so that the second Z-axis support shaft 2507 is connected up and down along the X-axis support shaft 2503, and thus the plate rack clamping jaw 2504 or the sampling tube clamping jaw 2505 can realize XYZ-axis movement, and can more conveniently grab a biological plate rack or a single sampling tube.

Further, a notch is formed on the operation panel 4101, the notch on the operation panel 4101 is consistent with the notch formed at the upper end of the docking chamber 22 in position and size, the docking flap 26 is disposed on the operation panel 4101, and the docking flap 26 can open or close the notch on the operation panel 4101.

Preferably, the flip plate 26 is driven by a motor to open the notch on the operation plate 4101, so that the transfer tank 2305 is driven by the lifting screw 2303 to dock with the operation plate 4101, the rack clamping jaw 2504 will open the upper cover of the transfer tank 2305 and place the upper cover in the upper cover storage groove on the operation plate 4101, and then the rack clamping jaw 2504 will grab the biological rack in the transfer tank 2305 and send the biological rack to the storage rack assembly 31.

Further, the liquid nitrogen port switch assembly 27 includes a port Y axis 2701, a port Z axis 2702, a port 2703, a port Z axis support axis 2704, and a port access port 2705;

the door Y axis 2701 is disposed on the operation plate 4101, the door Z axis support axis 2704 is slidable on the door Y axis 2701, the door Z axis 2702 is slidable up and down on the door Z axis support axis 2704, the door Z axis 2702 is connected with the door 2703, and the operation plate 4101 is provided with the door passage port 2705.

Preferably, the door Z-axis 2702 moves the door 2703 up along the door Z-axis support axis 2704, thereby moving the door 2703 away from the liquid nitrogen tank 28 and along the door Y-axis 2701, such that the door 2703 moves to a position that does not affect other components.

Further, the sample storage device 2 further comprises a liquid nitrogen tank 28, a tank body wheel set 29, a liquid nitrogen valve set 30, a storage rack assembly 31, a shovel disk assembly 32, a nitrogen spraying pipe 33, a disk 34 and a second rack storage groove 35;

the liquid nitrogen container 28 sets up in the below of operation panel 4101, container body wheelset 29 sets up in the below of liquid nitrogen container 28, liquid nitrogen valve group 30 sets up in the side of liquid nitrogen container 28, storage rack assembly 31 and shovel dish subassembly 32 set up in liquid nitrogen container 28, nitrogen spraying pipe 33 can spout nitrogen cooling to board frame clamping jaw 2504 and sampling tube clamping jaw 2505, liquid nitrogen valve group 30 steerable liquid nitrogen's in liquid nitrogen container 28 capacity, disc 34 sets up in storage rack assembly 31 top, be provided with second grillage storage tank 35 on disc 34, nitrogen spraying pipe 33 sets up on disc 34 and sets up in hatch door access 2705 below.

Preferably, a disc 34 is connected above the storage rack 3101, two second rack storage grooves 35 are formed in the disc 34, so that a biological rack can be temporarily placed, a storage opening is formed in the disc 34, and the biological rack or a sample tube or rack plate 3104 and a sample tube plate 3105 enter the storage rack 3101 through the opening; the nitrogen spraying pipe 33 is used for cooling the plate rack 2504 or the sampling pipe 2505 when the plate rack 2504 or the sampling pipe 2505 enters the cabin door channel port 2705, so that the biological plate rack or the biological sample pipe can be kept in a low-temperature state in the transferring process.

Further, the magazine assembly 31 includes a magazine 3101, a first magazine 3102, a second magazine 3103, a rack tray 3104, and a coupon tray 3105;

the storage rack 3101 is provided with a first storage tank 3102 and a second storage tank 3103, and the first storage tank 3102 and the second storage tank 3103 accommodate a rack tray 3104 and a sample tube tray 3105, respectively.

Preferably, an operation channel region S6 is provided between the first storage tank 3102 and the second storage tank 3103, and four groups of the first storage tank 3102, the second storage tank 3103 and the operation channel region S6 are circumferentially arrayed.

Preferably, the storage racks 3101 are arranged in multiple groups up and down, so that more rack trays 3104 and sample tube trays 3105 can be conveniently stored, three groups of biological rack can be stored in the rack trays 3104, and multiple groups of single-tube sample tubes can be contained in the sample tube trays 3105.

Further, the shovel disk assembly 32 includes a shovel disk rotational shaft 3201, a shovel disk 3202, a shovel disk central shaft 3203;

shovel disk rotation shaft 3201 can drive shovel disk 3202 and shovel disk central shaft 3203 to rotate under motor drive, and shovel disk 3202 can drive shovel disk 3202 to slide up and down along shovel disk central shaft 3203 under motor drive.

It should be noted that, the second motor S9 is connected to the rotating wheel S10 through a belt S11, the rotating wheel S10 may drive the shovel disc rotating shaft 3201 to rotate, the shovel disc rotating shaft 3201 drives the turntable S8 to rotate, the turntable S8 drives the shovel disc central shaft 3203 to rotate, and the connector, the screw rod S2, the guide shaft S5, the lifting block S4 and the shovel disc 3202 are driven to rotate at the same time.

The first motor S1 is connected with the screw rod S2 through a connector, the lifting block S4 is connected with the screw rod S2 in a matched manner, the lifting block S4 lifts along the guide shaft S5, and the lifting block S4 is connected with the shovel disc 3202.

Preferably, the first motor S1 can drive the screw rod S2 to rotate, the screw rod S2 drives the lifting block S4 to lift, the lifting block S4 is in threaded fit connection with the screw rod S2, the lifting block S4 drives the shovel disc 3202 to lift, the shovel disc 3202 can drive the plate frame disc 3104 or the sample tube disc 3105 to lift, the shovel disc 3202 can move up and down in the operation channel region S6, a wheel set S5 is arranged on the side surface of the lifting block S4, the wheel set S5 slides up and down along the guide shaft 2103, the wheel set S5 slides up and down along the guide shaft S5 in the lifting process of the lifting block S4, the guide shaft S5 plays a guiding role, the lifting block S4 is arranged in the shovel disc lifting groove S7, and the guide shaft S5 is fixedly connected with the turntable S8.

Preferably, the rotation motor can drive the shovel disk rotation shaft 3201 to rotate, so as to drive the shovel disk 3202 and the shovel disk central shaft 3203 to rotate, and the lifting motor can drive the shovel disk 3202 to slide up and down along the shovel disk lifting groove S7 on the side surface of the shovel disk central shaft 3203.

Preferably, the operation channel area S6 may be arranged in multiple groups, and a transverse channel S12 is formed between the upper and lower groups of the storage rack 3101, the shovel disk 3202 may move up and down in the operation channel area S6, and circumferentially rotate in the transverse channel S12, and the shovel disk 3202 may lift the plate rack disk 3104 or the sampling tube disk 3105 to circumferentially rotate and lift.

Preferably, the shovel disk 32,02 can rotate circumferentially and also can move up and down, the shovel disk 3202 can drive the plate rack disk 3104 or the sampling pipe disk 3105 to move up and down or move circumferentially, the plate rack disk 3104 or the sampling pipe disk 3105 can be lifted below the access port S13, other clamping components are convenient for placing the biological plate rack into the plate rack disk 3104 or the sampling pipe disk 3105, and the placed shovel disk 3202 can drive the plate rack disk 3104 or the sampling pipe disk 3105 to be placed into the first storage groove 3102 and the second storage groove 3103 in the storage rack 3101.

It should be noted that after the rack holding jaw 2504 picks up the biological rack in the transfer tank 2305, the biological rack is sent to the second rack storage groove 35 on the disc 34, then the shovel disc 3202 finds the empty rack disc 3104 or the sample tube disc 3105 and lifts it up, and places it in the storage port, and places the biological rack or the biological sample tube in the rack disc 3104 or the sample tube disc 3105 through the rack holding jaw 2504 or the sample tube holding jaw 2505, and places it in the empty position through the rotation and lifting of the shovel disc 3202, so as to realize the storage of the sample.

Further, the sample storage device 2 further comprises a device housing 36, a display 37, a flip-type operation panel 38, a viewing window 39, and a storage device emergency button 40;

the device housing 36 is arranged outside the operation cavity 41, a display screen 37 and a flip-type operation panel 38 are arranged on the device housing 36, a storage device emergency button 40 is arranged on the outer side of the device housing 36, and observation windows 39 are arranged on the operation cavity 41 and the device housing 36.

Preferably, pressing the storage device emergency button 40 emergency brakes the sample storage device 2.

In summary, the automatic transporting crawler 11 on the transfer docking robot 1 is docked with the automatic receiving crawler 21 in the sample storage device 2, the height of the automatic transporting crawler 11 can be adjusted through the jacking component 12 according to the height of the automatic receiving crawler 21, the transfer tank received by the automatic receiving crawler 21 can be grabbed by the sample storage device 2, the biological plate frame and the biological sample tube in the transfer tank are placed into the liquid nitrogen tank for refrigeration, the activity of the samples is ensured, and the samples are enabled to be in the cold chain process consistently in the transfer process without manual operation and no cell pollution.

Example 3

Referring to fig. 1 to 4, in order to provide a third embodiment of the present utility model, on the basis of embodiment 1 and embodiment 2, the embodiment further provides a storage docking method, which includes the following steps S1, the transfer docking robot 1 determines the height of the automatic receiving track 21 on the sample storage device 2;

s2, if the height of the automatic receiving track 21 is higher than that of the automatic transporting track 11, the jacking component 12 drives the automatic transporting track 11 to ascend until the heights of the automatic transporting track 11 and the automatic receiving track 21 are level;

s3, if the height of the automatic receiving track 21 is lower than that of the automatic transporting track 11, the jacking component 12 drives the automatic transporting track 11 to descend until the heights of the automatic transporting track 11 and the automatic receiving track 21 are level;

s4, after the height is even, the automatic transporting track 11 can drive the transfer tank 2305 to be in butt joint with the automatic receiving track 21, so that the transfer tank 2305 is transferred from the transfer butt joint robot 1 to the sample storage device 2.

According to the utility model, the height of the automatic conveying track 11 is adjusted through the jacking component 12 after the height of the automatic receiving track 21 is detected, when the height of the automatic receiving track 21 is consistent with that of the automatic conveying track 11, the automatic conveying track 11 can be started to drive the transfer tank to be conveyed into the automatic receiving track 21, and the sample storage equipment 2 with different heights can be docked through adjusting the height of the automatic conveying track 11.

It is important to note that the construction and arrangement of the present application as shown in a variety of different exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present utility model. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility models. Therefore, the utility model is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Furthermore, in order to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the utility model, or those not associated with practicing the utility model).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

It should be noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present utility model may be modified or substituted without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered in the scope of the claims of the present utility model.

Claims (19)

1. An automated sample cryogenic transfer storage system, characterized by: including transporting butt joint robot (1) and sample storage device (2), it is provided with automatic transportation track (11) to transport butt joint robot (1), sample storage device (2) are provided with automatic receiving track (21), automatic transportation track (11) can be according to the height of automatic receiving track (21) of sample storage device (2) changes the height.

2. The automated specimen cryogenic transfer storage system of claim 1, wherein: the automatic transport track (11) comprises a transport track (111), the automatic receiving track (21) comprises a receiving track (211), and the transport track (111) is movably in butt joint with the receiving track (211).

3. The automated specimen cryogenic transfer storage system of claim 2, wherein: the transfer docking robot (1) further comprises a jacking component (12), and the jacking component (12) can lift the automatic transfer crawler (11);

the jacking assembly (12) comprises a vertical sliding rail (1201), a guide sliding block (1202) and a lifting plate (1203);

the guide sliding block (1202) is fixedly connected with the lifting plate (1203), the guide sliding block (1202) is in sliding connection with the vertical sliding rail (1201), the guide sliding block (1202) can move up and down under the driving of the jacking motor, and the lifting plate (1203) is arranged below the automatic conveying track (11).

4. The automated specimen cryogenic transfer storage system of claim 3, wherein: the transfer docking robot (1) further comprises a cover opening manipulator (13) and a plate frame manipulator (14), a transfer frame (15) and rolling wheels (16), a first plate frame storage groove (17) and a robot emergency button;

the transportation frame (15) is connected with the rolling wheel (16), a cover opening manipulator (13) and a plate frame manipulator (14) are respectively arranged above the transportation frame (15), the transportation frame (15) can support a transportation track (111) and a jacking component (12), a first plate frame storage groove (17) is formed above the transportation frame (15), and a robot emergency button is arranged on a shell of the transportation frame (15).

5. The automated specimen cryogenic transfer storage system of claim 4, wherein: the sample storage device (2) further comprises a butt joint cavity (22), a transfer tank jacking assembly (23) and a track support frame (24);

the automatic receiving crawler is characterized in that a crawler support frame (24) is arranged in the docking cavity (22), the crawler support frame (24) can support the transfer tank lifting assembly (23) and the automatic receiving crawler (21), and a notch is formed in the upper end of the docking cavity (22).

6. The automated specimen cryogenic transfer storage system of claim 5, wherein: the transfer tank lifting assembly (23) comprises a transfer tank lifting plate (2301), a lifting support plate (2302), a lifting screw rod (2303), a transfer tank lifting plate motor (2304) and a transfer tank (2305);

jacking backup pad (2302) with track support frame (24) are connected, transfer jar lifter plate (2301) set up the top of jacking backup pad (2302), jacking lead screw (2303) pass jacking backup pad (2302) with transfer jar lifter plate (2301) are connected, jacking lead screw (2303) with jacking backup pad (2302) screw-thread fit is connected, transfer jar lifter plate motor (2304) is right jacking lead screw (2303), transfer jar (2305) can be placed to transfer jar lifter plate (2301) top.

7. The automated specimen cryogenic transfer storage system of claim 6, wherein: the sample storage device (2) further comprises an operating cavity (41), a movable grabbing assembly (25), a butt-joint flip plate (26) and a liquid nitrogen cabin door switch assembly (27);

an operation cavity (41) is arranged above the butt joint cavity (22), a movable grabbing component (25) is arranged in the operation cavity (41), a butt joint turnover plate (26) and a liquid nitrogen cabin door switch component (27) are arranged in the butt joint cavity;

the operation cavity (41) comprises a cavity shell and an operation plate (4101), the operation plate (4101) is connected with the butt joint cavity (22), the cavity shell is arranged above the operation plate (4101), and the cavity shell and the operation plate (4101) form an operation space.

8. The automated specimen cryogenic transfer storage system of claim 7, wherein: the movable grabbing component (25) comprises an X-axis (2501), a Y-axis (2502), an X-axis supporting shaft (2503), a plate rack clamping jaw (2504), a sample tube clamping jaw (2505), a Z-axis first supporting shaft (2506) and a Z-axis second supporting shaft (2507);

the X-axis (2501) can be connected with the Y-axis (2502) in a sliding mode, the X-axis supporting shaft (2503) can be connected with the X-axis (2501) in a sliding mode, the X-axis supporting shaft (2503) is connected with a Z-axis first supporting shaft (2506) and a Z-axis second supporting shaft (2507), the lower ends of the Z-axis first supporting shaft (2506) and the Z-axis second supporting shaft (2507) are respectively connected with a plate rack clamping jaw (2504) and a sampling tube clamping jaw (2505), the Z-axis first supporting shaft (2506) can drive the plate rack clamping jaw (2504) to slide up and down with the X-axis supporting shaft (2503), and the Z-axis second supporting shaft (2507) can drive the sampling tube clamping jaw (2505) to slide up and down with the X-axis supporting shaft (2503).

9. The automated specimen cryogenic transfer storage system of claim 8, wherein: the operation panel (4101) is provided with a notch, the notch on the operation panel (4101) is consistent with the notch arranged at the upper end of the butt joint cavity (22) in position and size, the butt joint cover plate (26) is arranged on the operation panel (4101), and the butt joint cover plate (26) can open or close the notch on the operation panel (4101).

10. The automated specimen cryogenic transfer storage system of claim 9, wherein: the liquid nitrogen cabin door switch assembly (27) comprises a cabin door Y-axis (2701), a cabin door Z-axis (2702), a cabin door (2703), a cabin door Z-axis supporting shaft (2704) and a cabin door channel opening (2705);

the cabin door Y-axis (2701) is arranged on the operation plate (4101), the cabin door Z-axis supporting shaft (2704) can slide on the cabin door Y-axis (2701), the cabin door Z-axis (2702) can slide up and down on the cabin door Z-axis supporting shaft (2704), the cabin door Z-axis (2702) is connected with the cabin door (2703), and the cabin door passage opening (2705) is formed in the operation plate (4101).

11. The automated specimen cryogenic transfer storage system of claim 10, wherein: the sample storage device (2) further comprises a liquid nitrogen tank body (28), a tank body wheel set (29), a liquid nitrogen valve set (30), a storage rack assembly (31), a shovel disk assembly (32), a nitrogen spraying pipe (33), a disc (34) and a second plate rack storage groove (35);

the liquid nitrogen tank body (28) is arranged below the operation plate (4101), the tank body wheel set (29) is arranged below the liquid nitrogen tank body (28), the liquid nitrogen valve set (30) is arranged on the side of the liquid nitrogen tank body (28), the storage rack assembly (31) and the shovel disk assembly (32) are arranged in the liquid nitrogen tank body (28), the nitrogen spraying pipe (33) can spray nitrogen for the plate rack clamping jaw (2504) and the sampling pipe clamping jaw (2505) for cooling, the liquid nitrogen valve set (30) can control the capacity of liquid nitrogen in the liquid nitrogen tank body (28), the disc (34) is arranged above the storage rack assembly (31), and the second plate rack storage groove (35) is arranged on the disc (34), and the nitrogen spraying pipe (33) is arranged on the disc (34) and below the cabin door channel opening (2705).

12. The automated specimen cryogenic transfer storage system of claim 11, wherein: the storage rack assembly (31) includes a storage rack (3101), a first storage slot (3102), a second storage slot (3103), a rack tray (3104), a coupon tray (3105);

a first storage groove (3102) and a second storage groove (3103) are formed in the storage rack (3101), and a plate rack plate (3104) and a sample tube plate (3105) are respectively contained in the first storage groove (3102) and the second storage groove (3103).

13. The automated specimen cryogenic transfer storage system of claim 12, wherein: the shovel disk assembly (32) comprises a shovel disk rotating shaft (3201), a shovel disk (3202) and a shovel disk central shaft (3203);

the shovel disc rotating shaft (3201) can drive the shovel disc (3202) and the shovel disc central shaft (3203) to rotate under the driving of a motor, and the shovel disc (3202) can drive the shovel disc (3202) to slide up and down along the shovel disc central shaft (3203) under the driving of the motor.

14. The automated specimen cryogenic transfer storage system of claim 13, wherein: the sample storage device (2) further comprises a device housing (36), a display screen (37), a flip-type operating panel (38), an observation window (39) and a storage device emergency button (40);

the device comprises a device housing (36), a display screen (37) and a flip-type operation panel (38) are arranged on the device housing (36), an emergency button (40) of a storage device is arranged on the outer side of the device housing (36), and observation windows (39) are arranged on the operation cavity (41) and the device housing (36).

15. The automated specimen cryogenic transfer storage system of claim 6, wherein: the cover opening manipulator (13) can rotationally grab and open the upper cover of the transfer tank (2305).

16. The automated specimen cryogenic transfer storage system of claim 6, wherein: the rack manipulator (14) can grab the biological rack in the transfer tank (2305) and can be rotatably placed on the first rack storage groove (17).

17. The automated specimen cryogenic transfer storage system of claim 7, wherein: the transfer tank lifting plate (2301) can drive the transfer tank (2305) to lift and butt against the operation plate (4101).

18. The automated specimen cryogenic transfer storage system of claim 10, wherein: the cabin door (2703) is fixedly connected with the cabin door Z shaft (2702), and the cabin door Z shaft (2702) can drive the cabin door (2703) to open or close the cabin door passage opening (2705).

19. The automated specimen cryogenic transfer storage system of claim 12, wherein: the rack clamping jaw (2504) can clamp the biological rack in the transfer tank (2305) and place the biological rack in the rack tray (3104) below the cabin door passage opening (2705), and then the shovel tray (3202) drives the rack tray (3104) to be placed on an empty position on the storage rack (3101) for storage.