WO2023216768A1 - 一种提取操作室及智能化样本存取系统 - Google Patents

一种提取操作室及智能化样本存取系统 Download PDF

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Publication number
WO2023216768A1
WO2023216768A1 PCT/CN2023/085925 CN2023085925W WO2023216768A1 WO 2023216768 A1 WO2023216768 A1 WO 2023216768A1 CN 2023085925 W CN2023085925 W CN 2023085925W WO 2023216768 A1 WO2023216768 A1 WO 2023216768A1
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WO
WIPO (PCT)
Prior art keywords
storage
box
extraction
arm
drive
Prior art date
Application number
PCT/CN2023/085925
Other languages
English (en)
French (fr)
Inventor
瞿建国
王建信
Original Assignee
上海原能细胞生物低温设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 上海原能细胞生物低温设备有限公司 filed Critical 上海原能细胞生物低温设备有限公司
Publication of WO2023216768A1 publication Critical patent/WO2023216768A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B7/00—Hand- or power-operated devices for opening closed containers

Definitions

  • the present invention relates to the field of biological sample storage, and in particular to the extraction and storage of biological samples. Specifically, it relates to an extraction operation room and an intelligent sample access system.
  • the transmission efficiency of biological samples in the existing technology is too low, and the entire cold chain cannot be guaranteed during the process of storing and withdrawing samples at the same time; the structural design of the storage equipment of biological samples in the existing technology takes up a large space, and the transfer of samples when storing multiple sample storage tanks is difficult. Access is inconvenient, and the entire cold chain cannot be guaranteed. And it cannot form industrial line operation and management.
  • the first object of the present invention is to provide an extraction operation chamber to solve the problems in the prior art that the cover and storage box of the extraction sample storage tank have unreasonable mechanism design, occupy too much space, and have poor sealing and heat preservation properties.
  • the second purpose of the present invention is to provide an intelligent sample access system to solve the problem that the sample access system in the prior art is inflexible, inconvenient to dock, transfer or access samples in multiple sample storage tanks, and cannot guarantee the entire cooling process. Due to the problem of chain, the access system in the existing technology also fails to form industrial linear operation and management.
  • an extraction operation room including a multi-stage Z-direction extraction arm and an X-direction push system.
  • the multi-stage Z-direction extraction arm can realize the movement of multi-distance road sections in the Z-axis direction.
  • Arm the multi-stage Z-direction extraction arm is provided with an extraction piece, and the multi-stage Z-direction extraction arm can drive the extraction piece to achieve movement in the Z-axis direction;
  • the X-direction push system is arranged with the extraction piece Corresponding position, and the X-direction pushing system can push the lid or storage box of the sample storage tank extracted by the extraction part sent to the set location.
  • the multi-stage Z-direction extraction arm includes a first Z-direction extraction arm, a second Z-direction extraction arm and a receiving transverse driving arm; the receiving transverse driving arm is provided on the first Z-direction extraction arm, so The first Z-direction extraction arm can drive the lateral drive arm to move in the Z-axis direction, and the second Z-direction extraction arm is provided on the lateral drive arm; the lateral drive arm can drive the second Z-direction drive arm.
  • the extraction arm moves laterally in the X direction; the extraction piece is arranged on the second Z-direction extraction arm, and the second Z-direction extraction arm can drive the extraction piece to move up and down in the Z-axis direction.
  • the first Z-direction extraction arm includes a Z-direction A drive sub-cylinder, a Z-direction B drive sub-cylinder, a Z-direction A track and a Z-direction B track; the said horizontal drive arm includes a C drive track and a C drive track.
  • the Z-direction A track and the Z-direction B track are fixed vertically and symmetrically in the extraction operation room in the Z-axis direction, and the two ends of the C drive track are respectively slidably arranged on the Z-direction A track and Z-direction On the B track, the Z-direction A drive sub-cylinder and the Z-direction B drive sub-cylinder drive the two ends of the C drive track up and down respectively; the second Z-direction extraction arm is slidably disposed on the C drive track.
  • the second Z-direction extraction arm includes a Z-direction D drive electric cylinder, and a lifting member is provided on the Z-direction D drive electric cylinder, and the drive The lifting piece moves up and down.
  • the X-direction push system includes an X-direction push member and a can cover storage area; the X-direction push member is arranged opposite to the can cover storage area; the X-direction push member can extract the can cover or store the extraction piece. Push the box to the lid storage area or set position.
  • the X-direction pushing system includes an X-direction pushing member and a can cover storage area; and the X-direction pushing member and the can cover storage area are respectively arranged on both sides of the multi-stage Z-direction extraction arm in the X-axis direction.
  • Push guide rod the push base frame is fixed below one side of the multi-stage Z-direction extraction arm, the push drive motor and the push guide rod are respectively fixed on the push base frame, and the X-axis
  • the motion push plate moves along the push guide rod driven by the push drive motor; the X-axis motion push plate can extend from one side of the multi-stage Z-direction extraction arm to the other side, and is stored close to the tank lid area; a receiving and storage port is provided on the side of the can cover storage area close to the X-axis movement push plate.
  • the Y-direction receiving system includes a Y-direction track, a Y-direction moving tray and a box receiving channel;
  • the Y-direction track extends along the Y-axis direction and is arranged below the push base frame;
  • the box-storage receiving channel is slidably arranged on the Y-direction track, and the box-storage receiving channel is on It has a certain length in the X-axis direction;
  • the Y-direction movable tray is slidably disposed on the box storage channel in the X-axis direction.
  • the Y-direction receiving system further includes a cassette pushing member, which is arranged at a position corresponding to the cassette receiving channel and can push the Y-direction movable tray on the cassette receiving channel.
  • a cassette pushing member which is arranged at a position corresponding to the cassette receiving channel and can push the Y-direction movable tray on the cassette receiving channel.
  • the box pushing member includes a box pushing driving motor and a box pushing plate.
  • the box pushing driving motor is arranged on the lower end surface of the pushing base frame, and the box pushing plate is slidable. is arranged on the lower end surface of the push base frame, and the box pushing drive motor drives the box pushing plate to make telescopic movements in the X-axis direction.
  • the box pushing plate includes a first box pushing sub-plate, a box pushing second sub-plate and a box pushing head, and the upper surface of the box pushing first sub-plate is slidably disposed on the On the lower end of the pushing base frame, one end of the first sub-board for pushing the box is fixed at right angles to one end of the second sub-board for pushing the box, and the other end of the second sub-plate for pushing the box is at right angles to the box pushing head.
  • the storage box pushes the plate into an inverted "Z" shape.
  • the Y-direction receiving system also includes a Y-direction drive motor, a Y-direction rotating shaft screw, and a box receiving channel receiving nut;
  • the Y-direction driving motor drives one end of the Y-direction rotating shaft screw to rotate,
  • the other end of the Y-direction shaft screw is rotatably arranged at one end of the Y-direction track away from the pushing base frame;
  • the box receiving channel receiving nut is fixed on one end of the box receiving channel, and the The Y-direction rotating shaft screw is engaged with the receiving nut of the storage box receiving channel;
  • the Y-direction driving motor is arranged below the connection between the first sub-board for pushing the box and the second sub-board for pushing the box.
  • the box receiving channel can be moved to a position corresponding to the box pushing head.
  • the Y-direction receiving system further includes a low-temperature protection component, which is arranged below the box storage receiving channel or fixed on the lower end surface of the box storage receiving channel; the low-temperature protection component has an internal
  • the upper end surface of the low-temperature protection piece is provided with a plurality of nitrogen holes that communicate with the accommodation cavity; the accommodation cavity of the low-temperature protection piece is connected with the nitrogen supply pipeline.
  • the can cover storage driving member can drive the can cover storage housing to move in the X-axis direction.
  • the can cover storage driving component includes a storage driving base, a storage driving rail and a storage driving connecting plate frame; the storage driving base is fixed in the extraction operation room and is located on the other side of the multi-stage Z-direction extraction arm.
  • the storage drive track is set on the storage drive base; one end of the storage drive connection plate rack is slidably set on the storage drive track, and the other end is fixed on the can cover storage housing.
  • the storage drive base is arranged above the can cover storage housing, and a first storage sub-driving rail and a second storage sub-driving rail are symmetrically provided on both sides of the upper end surface of the storage driving base;
  • the upper end surface of the storage drive base is located on both sides outside the first storage sub-driving track and the second storage sub-driving track.
  • the storage drive connecting plate rack includes a storage drive sliding plate, a storage drive first splint and a storage drive second splint; the storage drive sliding plate is slidably disposed on the first storage sub-driving track and the second storage sub-driving track. on the track; the upper end of the storage driving first plywood is vertically fixed on one side of the storage driving sliding plate, and the lower end of the storage driving first plying plate passes through the driving channel on one side and is fixed on the tank Cover the storage shell; the upper end of the storage drive second plywood is vertically fixed on the other side of the storage drive sliding plate, and the lower end of the storage drive second plywood passes through the drive channel on the other side Fixed on the can cover storage shell.
  • the storage box return member is arranged at a position opposite to the storage box push plate; the storage box return member includes a return push plate, and the return push plate can be positioned on the X-axis Do stretching exercises.
  • the storage box return member includes a return member base plate and a return member drive motor;
  • the return member base plate is disposed at a position where the can cover storage housing is lowered and opposite to the box storage push member, and the return push plate is slidably disposed on the return member base plate under the driving of the return member driving motor. On the side of the return push plate close to the box push head, a return push head is provided.
  • the extraction part is provided with an anode magnetic part; the upper end surface of the tank lid is provided with a negative magnetic part, and the upper end surface of the basket is provided with a negative magnetic part.
  • the multi-stage Z-direction extraction arm further includes an X-stepping arm, the X-stepping arm is provided on the second Z-direction extraction arm, and the second Z-direction extraction arm can drive the The step arm moves up and down on the Z-axis; the extraction piece is provided on the X step-up arm, and the X step-up arm can drive the extraction piece to move on the X-axis;
  • the lower end of the extraction piece is provided with extraction handles extending to both sides, and the upper end surface of the tank cover is provided with a receiving groove.
  • the receiving groove can receive the extraction handle in the X-axis direction, and the extraction handle is in the Z-axis direction. Limit extraction to the receiving tank.
  • the extraction operation chamber is sealed at the upper end of the sample storage tank; the extraction operation chamber is provided with a sealed docking port; the transfer docking component is arranged on the outside side of the sample storage tank, and the transfer docking component can receive the transfer box , and can drive the transfer box so that the opening of the transfer box is docked with the sealed docking port.
  • the transfer and docking component includes a moving track, a moving trolley and a docking driver.
  • the moving track is arranged on the outside of the sample storage tank.
  • the moving trolley is arranged on the moving track, and the moving trolley can move along the moving track.
  • the moving track drives the transfer box to move; the docking driver can drive the transfer box to seal the opening of the transfer box and the sealed docking port.
  • the moving track is C-shaped, U-shaped or concave.
  • the docking driving component includes a docking drive motor, a docking vertical rail and a docking lifting frame; the docking drive motor drives the docking lifting frame to perform lifting movements along the docking vertical rail;
  • the moving rail is arranged at the upper end of the docking vertical rail, and the two are arranged in a T shape or an inverted L shape; and one end of the moving rail passes through the docking lifting frame;
  • the upper end of the docking lifting frame is two non-connected free ends, and the two free ends are respectively provided with lifting receiving plates; a lifting support plate is provided between the two lifting receiving plates; the transfer box can be placed or can be arranged on the Lift the support plate.
  • the mobile trolley includes a trolley base, a trolley battery and an electronic connection board;
  • a trolley chute is provided on the lower end of the trolley base, and the trolley chute is slidably arranged on the moving track; a trolley battery is arranged on the lower end of the trolley base, and the trolley battery is electrically connected to the electric chip connecting plate; A power contact panel is provided on the moving track and below the trolley base at a position corresponding to the electrical chip connection board.
  • the mobile trolley also includes a ranging sensor, a single-chip microcomputer, a trolley motor, and trolley wheels.
  • the ranging sensor is arranged on the lower end surface of the trolley base; the single-chip microcomputer is electrically connected to the ranging sensor and the trolley motor respectively. ; The trolley motor drives the trolley wheels to move on the moving track.
  • the mobile track includes a first sub-track, a second sub-track and a mobile car support plate; the first sub-track and the second sub-track are symmetrically arranged on the upper end surfaces of both sides of the mobile car support plate; and the trolley base
  • the lower end face is provided with two sets of trolley chutes on both sides, and the two sets of trolley chutes are respectively slidingly arranged on the first sub-rail.
  • the power contact plate is provided on the mobile vehicle support plate;
  • a wheel pad is provided on the mobile vehicle support plate, and the trolley wheels move on the wheel pad.
  • the upper end surface of the trolley base of the mobile trolley is provided with a trolley positioning column; and the lifting receiving plate is provided with a positioning hole corresponding to the trolley positioning column.
  • the extraction operation chamber further includes a cover opening mechanism.
  • the cover opening mechanism is arranged at a position opposite to the sealed docking port.
  • the cover opening mechanism can open the transfer box cover to the transfer box opening to which the sealed docking port is docked. Uncover.
  • the cap opening mechanism includes a cap opening fixed base, a cap opening driving member, a cap opening big arm, a cap opening small arm and a cap opening plate;
  • the cap opening fixed base is fixed in the extraction operation chamber, so
  • the cover opening driving member is provided on the cover opening fixed base; one end of the cover opening large arm is rotatably provided on the cover opening fixed base, and one end of the cover opening small arm is rotatably provided on the cover opening fixed base.
  • the other end of the lid-opening big arm and the other end of the lid-opening small arm are fixed with a lid-opening disk; the lid-opening driving member drives the rotation of the lid-opening small arm.
  • the lid opening tray includes a lid opening body tray, a lid opening positioning rod and a lid opening electromagnetic component;
  • the lid-opening body plate is fixed on the other end of the lid-opening forearm.
  • the lid-opening body plate is provided with a lid-opening positioning rod and a lid-opening electromagnetic positive component;
  • the transfer box cover is provided with a transfer box. Positioning hole, the lid opening positioning rod can be inserted into the transfer box positioning hole;
  • the transfer box lid is provided with a transfer box lid electromagnetic negative part, the lid opening electromagnetic positive part can interact with the transfer box lid electromagnetic negative part Adsorption.
  • the cover-opening drive component includes a cover-opening drive motor, a cover-opening drive guide rail, and a cover-opening drive slide; the cover-opening drive motor drives the cover-opening drive slide to perform lifting movements on the cover-opening drive guide rail,
  • the lid-opening driving slide extends outward and is provided with a lid-opening rotating shaft.
  • One end of the lid-opening rotating shaft is fixed on the lid-opening driving slide.
  • the other end of the lid-opening rotating shaft can be rotated or fixedly mounted on the lid opening small On the armbar.
  • the sample storage tank includes a sample tank body, a built-in liquid nitrogen tank, a turntable, a sample storage rotating shaft, a sample storage motor, a basket and a tank cover; the upper end cover of the sample tank body is provided with a tank cover;
  • the built-in liquid nitrogen tank is arranged in the sample tank body, and the upper end surface of the built-in liquid nitrogen tank is provided with a receiving transfer groove;
  • the sample storage motor drives the sample storage rotating shaft member to rotate, and the sample storage rotating shaft member
  • the lower end is rotatably arranged on the receiving trough; a turntable is fixedly provided on the periphery of the sample storage rotating shaft; the basket is provided on the turntable;
  • the sample storage rotating shaft includes a central rotating shaft and a receiving rotating shaft;
  • the sample storage motor drives its central rotating shaft.
  • a nitrogen-filled chamber is provided inside the central rotating shaft.
  • the lower end of the central rotating shaft is coaxially connected to the receiving rotating shaft.
  • the lower end of the receiving rotating shaft
  • a temperature insulation layer is provided inside the tank wall of the sample tank body.
  • the extraction operation room is also provided with a defrosting mechanism and a code scanning identification device.
  • the defrosting mechanism is arranged close to the sealing interface, and the code scanning identification device is arranged close to the defrosting mechanism. .
  • the extraction operation chamber is also provided with an observation window and a detachable operation door.
  • the extraction operation room is equipped with a multi-stage Z-direction extraction arm and an X-direction push system
  • the multi-stage Z-direction extraction arm is used to realize the movement of multi-distance sections in the Z-axis direction, thus achieving
  • the multi-distance movement of the extraction part in the Z-axis direction is greatly increased; this greatly increases the depth or length of the Z-axis movement; and a corresponding X-direction push system is set up, and the X-direction push system realizes the lid of the sample storage tank.
  • the invention has the following second beneficial effect: the intelligent sample access system ensures the entire cold chain, and the sample access can be connected to multiple devices to form an industrial access line, which greatly improves the sample access efficiency and makes it more efficient. Facilitates management of sample access and industrial lines.
  • Figure 3 is a schematic structural diagram of the intelligent sample access system
  • Figure 4 is a half-section view of Figure 3;
  • Figure 6 is a schematic structural diagram of the mobile car
  • Figure 7 is a schematic structural diagram of the mobile car on the moving track
  • Figure 9 is a schematic diagram of the cross-sectional structure of the sample storage tank.
  • Figure 10 is a schematic structural diagram of the multi-stage Z-direction extraction arm and can lid storage area
  • Figure 11 is a schematic structural diagram of the extraction handle and the receiving groove.
  • 13-can cover storage area 131-receiving and storing port; 132-can cover storage shell; 133-can cover storage driving component; 134-can cover extraction port; 135-storage drive base; 136-storage drive track; 137 -Storage drive connection plate rack; 138-Storage of the first sub-drive track; 139-Storage of the second sub-drive track; 1310-Storage of the drive passage; 1311-Storage of the drive sliding plate; 1312-Storage of the first drive plywood; 1313-Storage of the drive second splint;
  • 17-Storage box return component 171-Return push plate; 172-Return component base plate; 173-Return component drive
  • Moving motor 174-return push head
  • 7-Transfer and docking components 701-Transfer box; 702-Moving track; 703-Mobile trolley; 704-Docking drive parts; 705-Docking drive motor; 706-Docking vertical track; 707-Docking lifting frame; 708-Lifting undertaking Plate; 709-lift support plate; 710-transfer box limit plate; 711-first sub-track; 712-second sub-track; 713-mobile vehicle support plate; 714-wheel pad;
  • 8-car base 801-car battery; 802-electronic connection plate; 803-car chute; 804-power contact plate; 805-car positioning post; 806-distance sensor; 807-single chip microcomputer; 808-car motor ;809-car wheels;
  • 9-Opening mechanism 901-Opening fixed base; 902-Opening driving part; 903-Opening big arm; 904-Opening small arm; 905-Opening plate; 906-Opening positioning rod; 907 -Electromagnetic components for opening the cover; 908-Drive guide rail for opening the cover; 909-Drive slide for opening the cover;
  • 20-sample tank body 201-built-in liquid nitrogen tank; 202-turntable; 203-sample storage shaft; 204-sample storage motor; 205-receiving transfer trough; 206-center rotating shaft; 207-receiving rotating shaft;
  • the biological sample cryopreservation tubes are uniformly stored in the storage box 1000.
  • Multiple storage boxes 1000 are stored in the sample storage tank 2000 for low-temperature storage; the sample storage tank 2000 is provided with The basket 3000 has multiple storage boxes 1000 stored in the basket 3000 for easy access.
  • the low temperature environment of the existing sample storage tank 2000 is formed by supplying nitrogen, that is, a liquid nitrogen tank.
  • a lid opening mechanism can be set during extraction; open the sample storage tank and lift out the basket 3000, and put the target in the basket 3000. Cryotubes.
  • the access process is the reverse process described above and will not be described again here.
  • the present invention discloses an extraction operation chamber 1, which can ensure that the cryopreservation tube is extracted from the basket 3000 after extracting and opening the lid 4000 of the sample storage tank 2000 in a sealed low-temperature environment. While achieving simultaneous operation space in the Z-axis and X-axis directions, the extraction structure is reasonably designed, takes up little space, is relatively low in cost, is easy to operate and intelligent, and has high sealing and heat preservation.
  • the multi-stage Z-direction extraction arm 11 disclosed in the present invention can be a manipulator in the Z-direction, or it can be a Z-direction driving arm. There is no limit here.
  • the realization of multi-section and multi-distance moving arms belongs to the protection scope of the present invention; the cooperation of the multi-stage Z-direction extraction arm 11 and the X-direction push system 12 can greatly reduce the occupied space, the cost is relatively low, the operation is convenient and intelligent, and the sealing and heat preservation are high.
  • This embodiment is a preferred embodiment of a multi-stage Z-direction extraction arm 11: the multi-stage Z-direction extraction arm 11 includes a first Z-direction extraction arm 112, a second Z-direction extraction arm 113 and a transverse driving arm 114;
  • the receiving transverse driving arm 114 is provided on the first Z-direction extraction arm 112.
  • the first Z-direction extraction arm can drive the receiving transverse driving arm to move in the Z-axis direction.
  • the second Z-direction extraction arm 113 is provided on the receiving transverse driving arm 114; the receiving transverse driving arm can drive the second Z-direction extraction arm to move laterally in the
  • the second Z-direction extraction arm can drive the extraction piece to move up and down in the Z-axis direction.
  • the first Z-direction extraction arm can drive the receiving transverse driving arm to move in the Z-direction, that is, the vertical direction, so that the receiving transverse driving arm can also drive the second Z-direction extraction arm to move vertically in the operable movement section of the first Z-direction extraction arm.
  • the second Z-direction extraction arm itself has an operable vertical movement section in the Z-axis direction, so two operating sections are formed in the vertical direction of the Z-axis, which greatly increases the depth of operation in the vertical direction. and length; and because the transverse driving arm is provided to realize the movement of the second Z-axis extraction arm in the X-lateral direction, the movement of the second Z-axis extraction arm in the X-axis direction is realized.
  • This design does not take up much space, is highly stable, and has a wide operating range.
  • the first Z-direction extraction arm includes a Z-direction A drive sub-cylinder 115, Z The B-direction driving sub-cylinder 116, the Z-direction A rail 117 and the Z-direction B rail 118;
  • the receiving transverse driving arm 114 includes a C driving rail 119 and a C driving electric cylinder 120;
  • the Z-direction A track 117 and the Z-direction B track 118 are vertically symmetrically fixed in the Z-axis direction respectively.
  • both ends of the C drive track 119 are slidably disposed on the Z-direction A track and the Z-direction B track respectively, and the Z-direction A drive sub-cylinder and the Z-direction B drive sub-cylinder
  • the two ends of the C drive track 119 are driven to move up and down respectively;
  • the Z-direction A track 117 and the Z-direction B track 118 are arranged symmetrically, and the space between the Z-direction A track and the Z-direction B track can be used for the X push system 12 operating space, so that the setting position of the X pushing system 12 can be set according to the extraction part, and the structural design is more reasonable.
  • the extraction position corresponds to the Z-direction A track and Z-direction B track, so that X pushes the system to the set position and pushes the can lid to the set position or can lid storage area.
  • the second Z-direction extraction arm 113 is slidably disposed on the C drive track 119, and the C drive electric cylinder 120 drives it; the second Z-direction extraction arm 113 includes a Z-direction D drive motor. Cylinder 121, the Z-direction D driving electric cylinder 121 is provided with a lifting member 11, and drives the lifting member 11 to move up and down.
  • the extraction part 111 is provided with an anode electromagnetic part; the upper end surface of the tank lid is provided with a negative magnetic part, and the upper end surface of the basket is provided with a negative magnetic part.
  • the extraction part moves downward to the upper end surface of the can lid, and the cooperation of the anode electromagnetic part and the negative magnetic part is used to realize the extraction of the can lid by the extraction part; when it is necessary to release the can lid, the anode electromagnetic The component is powered off to achieve release; similarly, when the extraction component extracts the basket, it is also realized by the cooperation of the anode electromagnetic component and the negative magnetic component.
  • the multi-stage Z-direction extraction arm 11 also includes an X-stepping arm (not shown in the figure), and the On the extraction arm 113, the second Z-direction extraction arm 113 can drive the X upgrade arm to move up and down on the Z axis; the extraction piece is provided on the X upgrade arm, and the X upgrade arm can drive The extraction piece moves on the X-axis; the lower end of the extraction piece is provided with extraction handles 1112 extending to both sides, as shown in Figure 11.
  • the receiving groove 1113 can receive the extraction handle 1112 in the X-axis direction, and the extraction handle 1112 can restrict extraction of the receiving groove 1113 in the Z-axis direction.
  • the extraction handle 1112 at the lower end of the extraction part is on the same horizontal line as the receiving groove 1113 in the X-axis direction, and the X direction
  • the step arm drives the extraction part, that is, it drives the extraction handle 1112 to move in the X-axis direction, so that the extraction handle 1112 enters the receiving groove 1113 from the X-axis direction; and because the extraction handle restricts the receiving groove in the Z-axis direction, because the extraction handle Extract the can lid in the Z-axis direction.
  • the extraction process is that the second Z-direction extraction arm and the first Z-direction drive arm drive it to move upward, and the transverse drive arm is responsible for the lateral movement of the X-axis to place the extracted can lid at the target position.
  • the extraction operation room of the present invention is equipped with an X-direction push system 12.
  • the X-direction push system 12 extracts the multi-stage Z-direction extraction arm 11.
  • the can lids 4000 that come up are pushed to the designated location; a design structure is disclosed at the designated location: the can lid storage area 13.
  • a preferred X-direction push system 12 in this embodiment includes an X-direction push member 121 and a can cover storage area 13; the X-direction push member 13 is arranged opposite to the can cover storage area 13 , the relative arrangement described here means that in the direction of the 4000 or storage box 1000 to push the can lid storage area 13; of course, an X-direction pushing member 121 can also be provided here to push the can lids extracted by the extractor to the set position. As long as the lid of the sample storage tank is opened and placed so that it does not hinder the extraction of the basket or storage box, it is included in the above scope. Since the preferably arranged receiving groove of the extraction piece has no restriction on receiving the extraction handle in the X-axis direction, all the X-direction pushing components of the Just push it. It greatly saves cost and structural design space.
  • a preferred further implementation of the X-direction push system 12 of this embodiment is that the X-direction push system 12 includes an X-direction push member 121 and a can cover storage area 13; and the X-direction push member 121 and the can cover storage area 13 are respectively provided On both sides of the multi-stage Z-direction extraction arm 11 in the X-axis direction;
  • a receiving and storing port 131 is provided on the side of the can lid storage area 13 close to the X-axis movement push plate 124 .
  • the multi-stage Z-direction extraction arm 11 uses the extraction piece to first extract the tank cover 4000 to a position corresponding to the X-direction push member 121, and the push drive motor 123 drives the X-axis.
  • the moving push plate 124 moves on the pushing guide rod 125. From then on, the X-axis moving push plate 124 passes from one side of the multi-stage Z-direction extraction arm 11 to the bottom thereof and pushes the can lid 4000 to the other side of the multi-stage Z-direction extraction arm 11.
  • the can lid storage area 13 on the side thereby pushing the can lid 4000 into the can lid storage area 13; this not only realizes the extraction and storage of the can lids, but also facilitates the multi-stage Z-direction extraction arm to extract the basket or sample in the sample storage tank.
  • Storage box for extraction a receiving and storing port is provided on the side of the can lid storage area close to the X-axis movement push plate, and the can lids are pushed to the can lid storage area by the X-direction pushing member and received from the receiving and storing port.
  • the Y-direction receiving system 14 includes a Y-direction track 141, a Y-direction moving tray 142 and a box receiving channel 143;
  • the Y-direction track 141 extends along the Y-axis direction and is provided Below the pushing base frame 122;
  • the box receiving channel 143 is slidably provided on the Y-direction track 141, and the box receiving channel 143 has a certain length in the X-axis direction;
  • the Y The moving tray 142 is slidably disposed on the box receiving channel 143 in the X-axis direction.
  • the Y-direction receiving system 14 also includes a cassette pushing member 15.
  • the cassette pushing member 15 is arranged at a position corresponding to the cassette receiving channel 143 and can move the Y-direction moving tray 142 on the cassette receiving channel 143. push.
  • the box pushing member 15 includes a box pushing driving motor 151 and a box pushing plate 152.
  • the box pushing driving motor 151 is provided on the lower end surface of the pushing base frame 122.
  • the box pushing plate 152 is slidably disposed on the lower end surface of the push base frame 122, and the box push drive motor 151 drives the box push plate 152 to perform telescopic movement in the X-axis direction.
  • the Y-directional movable tray 142 receives the storage box 1000 connected from the external connection.
  • an operating grab hand 5000 can be set up in the extraction operation room to grab the target storage box 1000 onto the Y-directional movable tray 142; it can also be set Other crawling methods are not restricted here.
  • a driving member must be provided to drive the box storage receiving channel 143, which will not be described in detail; the Y-direction moving tray is driven by the box storage receiving channel 142 142 moves in the Y-axis direction to drive the target storage box to the corresponding position of the box pushing member 15.
  • the box pushing drive motor 151 of the box pushing member 15 drives the box pushing plate 152 to push the target storage box on the X-axis. Push out in the direction and reach the destination.
  • the box pushing plate 152 here pushes the target storage box out.
  • the multi-stage Z-direction extraction arm 11 extracts the tank lid 4000 of the sample storage tank 2000, and pushes it to the tank lid storage area 13 by the X-direction pushing system 12.
  • the multi-stage Z-direction extraction arm 11 moves downward in the same movement, so that the extraction part 111 moves into the sample storage tank 2000 and the extraction basket 3000 is moved.
  • the arrangement of the extraction part has been explained above, and the upper end surface of the basket is also matched. The extraction of the extraction part is set.
  • the upper end surface of the basket is also set in a structural arrangement with a receiving groove 1113 that is not restricted in the X-axis direction and restricts the extraction 1112 in the Z-axis direction.
  • the extraction part extracts the basket to a position corresponding to the box pushing member 15.
  • the box pushing driving motor 151 drives the box pushing plate 152.
  • the box pushing plate 152 moves in the X-axis direction to push the target storage box to In the basket; as shown in Figure 4, the basket disclosed here is formed by a vertical array of multiple basket receiving trays 6 that can be received in the X-axis direction, and the box push plate pushes it into the target basket receiving tray 6.
  • the multi-stage Z-direction extraction arm 11 drives the basket down to the initial state, thereby storing the target storage box.
  • the box storage and pushing plate 15 includes a first box storage and pushing sub-board 153, a second box storage and pushing sub-plate 154 and a box storage and pushing head 155.
  • the upper end surface of the first box-pushing sub-plate 153 is slidably disposed on the lower end surface of the pushing base frame 122.
  • One end of the box-pushing first sub-plate 153 is connected with the second box-pushing sub-plate 154.
  • One end is fixed at a right angle, and the other end of the box pushing second sub-plate 154 is fixed at a right angle to the box pushing head 155; the box pushing plate 152 is in an inverted "Z" shape.
  • This arrangement rationally arranges the X-direction pushing system 12 and the box-depositing pushing member 15 together, making the structure compact and more suitable for the pushing operation of the X-direction pushing system 12 and the box-depositing pushing component 15.
  • the Y-direction receiving system 14 is The collection system 14 also includes a Y-direction drive motor 144, a Y-direction shaft screw 145, and a box receiving channel receiving nut 146; the Y-direction drive motor 144 drives one end of the Y-direction shaft screw 145 to rotate, so The other end of the Y-axis screw 145 is rotatably disposed at an end of the Y-track 141 away from the push base frame 122;
  • the box receiving channel receiving nut 146 is fixed on one end of the box receiving channel 143, and the Y-axis screw 145 is engaged with the box receiving channel receiving nut 146;
  • the Y-direction drive motor is arranged below the connection point between the first sub-board for pushing the box and the second sub-board for pushing the box, and the box receiving channel can move to a position corresponding to the box pushing head.
  • the Y-direction drive motor 144 drives the Y-direction shaft screw 145 to rotate, thereby driving the box receiving channel receiving nut 146 to move linearly in the Y-axis direction along the Y-direction rotating shaft screw 145, thus driving the Y box receiving channel 143 to move linearly in the Y-axis direction. Movement, thereby realizing the Y-direction movement of the tray 142 after receiving the target storage box, and moving it in the Y-direction to the corresponding position of the box storage push head 155, and the storage box push head 155 pushes it into the basket.
  • the Y-direction receiving system 14 also includes a low-temperature protection component 16.
  • the low-temperature protection component The component 16 is arranged below the box receiving channel 143 or fixed on the lower end surface of the box receiving channel 143; the low temperature protection component has an accommodation cavity inside, and the upper end surface of the low temperature protection component is provided with a plurality of accommodation cavities.
  • the nitrogen hole 161 is connected with each other; the accommodation cavity of the low temperature protection component is connected with the nitrogen supply pipeline.
  • a holding chamber is provided in the low-temperature protection part, and the holding chamber is connected with the nitrogen supply pipe. Therefore, the nitrogen supply pipe supplies nitrogen to the holding chamber of the low-temperature protection part. Since a nitrogen hole is provided, the nitrogen liquid overflows from the nitrogen hole and is received in the storage box.
  • the channel continuously provides low temperature protection.
  • the low-temperature protection member is in the shape of a box, a cylinder, or a hemisphere.
  • the specific structure of the low-temperature protection component is not limited here. A specific structure is disclosed here as shown in Figure 2.
  • the low-temperature protection component is a rectangular box, and a box storage receiving channel is provided on the rectangular box.
  • the can cover storage driving member 133 can drive the can cover storage housing 132 to move in the X-axis direction.
  • a can cover storage area is provided.
  • the driving component drives the can cover storage shell to move in the X-axis direction.
  • a specific preferred embodiment of the can lid storage driving member 133 includes a storage driving base 135, a storage driving track 136 and a storage driving connecting plate frame 137;
  • the storage driving base 135 is fixed in the extraction operation chamber and is located below the other side of the multi-stage Z-direction extraction arm 11.
  • the storage driving rail 136 is provided on the storage driving base 135; the storage driving connection One end of the plate rack 137 is slidably disposed on the storage drive track 136, and the other end is fixed on the can lid storage housing 132.
  • the extraction operation chamber 1 further includes a storage box return member 17; the storage box return member 17 is arranged at a position opposite to the storage box push plate 15; the storage box The return member 17 includes a return push plate 171 that can telescopically move on the X-axis.
  • This embodiment provides an intelligent sample access system, including a transfer docking component 7, any extraction operation chamber 1 described in the above-mentioned Embodiment 1, and a sample storage tank 2000; the extraction operation chamber 1 is sealed and arranged in The upper end of the sample storage tank 2000; the extraction operation chamber 1 is provided with a sealed docking port 18; the transfer docking member 7 is arranged on the outer side of the sample storage tank 2000, and the transfer docking member 7 can receive the transfer box 701, And the transfer box 701 can be driven so that the opening of the transfer box is docked with the sealed docking port 18 .
  • the operation structure process of this embodiment is as follows: if a biological sample needs to be extracted from a sample storage tank, the cryopreservation tube containing the biological sample is put into the storage box, and then the storage box is put into the transfer box, and the transfer box transfers the biological sample. , since the transfer box itself has the function of keeping cold, the low-temperature environment is also guaranteed during this process.
  • the transfer box is moved to the rotating docking component, and the transfer box is transferred by the transfer docking component so that the opening of the transfer box is docked with the sealed docking interface of the extraction operation room; the transfer box is opened by the extraction operation room in the extraction operation room. After opening the lid, the target storage box will be stored in the extraction operation room.
  • the target storage box is always in a low-temperature environment whether it is in the transfer box or opened in the extraction operation room. Moreover, due to the installation of transfer and docking components, it is very convenient to form multiple sample storage tanks for docking and extraction, form an industrial access line, and realize the entire cold preservation process.
  • the transfer and docking component 7 includes a moving track 702 , a moving trolley 703 and a docking driver 704 .
  • the moving track 702 is provided on the outside of the sample storage tank 2000 , the mobile trolley 703 is arranged on the mobile track 702, and the mobile The trolley 703 can drive the transfer box to move along the moving track 702; the docking driver 7 can drive the transfer box so that the opening of the transfer box and the sealed docking port are sealed and docked.
  • a docking driver is set up here to drive the transfer box so that the opening of the transfer box is sealed and docked with the sealed docking buckle.
  • the moving track 702 is C-shaped, U-shaped or concave. This setting can more conveniently realize the direct extraction or storage of sample storage tanks.
  • the moving track can be C-shaped, U-shaped or concave to facilitate the docking of two or more sample storage tanks.
  • the moving rail 702 is arranged at the upper end of the docking vertical rail 706, and both are arranged in a T shape or an inverted L shape; and one end of the moving rail 702 passes through the docking lifting frame 707;
  • the two lifting receiving plates support the lifting supporting plate in the vertical direction, but do not limit the movement of the lifting support plate driven by the moving trolley on the moving track. sports.
  • a mobile trolley can be used to move the lifting support plate to the appropriate position. After placing the transfer box on the lifting support plate, the mobile trolley can be used to lift the The lifting support plate of the transfer box is moved to the two lifting receiving plates, and then the docking lifting frame is used to perform a sealed docking action.
  • the lifting support plate 709 is provided with a transfer box limiter.
  • the transfer box limiting plate 710 can limit the transfer box. Setting the lifting support plate in this way can receive the transfer box more accurately when receiving the transfer box.
  • the preferred embodiment of this embodiment provides an implementation of an automatically rechargeable mobile car 703.
  • the mobile car includes a car base 8, a car battery 801 and an electronic connection board 802;
  • the lower end of the trolley base 8 is provided with a trolley chute 803, which is slidably arranged on the moving track 702; the lower end of the trolley base 8 is provided with a trolley battery 801, which is connected to the trolley battery 801. Electrical connection board 802 electrical connection;
  • a power contact panel 804 is provided on the moving track 702 and at a position corresponding to the electrical chip connection board below the trolley base.
  • the mobile trolley also includes a ranging sensor 806, a single-chip microcomputer 807, a trolley motor 808, and trolley wheels 809.
  • the ranging sensor 806 is provided on the lower end surface of the trolley base 8;
  • the single-chip microcomputer is electrically connected to the ranging sensor and the trolley motor respectively, and the single-chip microcomputer controls the ranging sensor and the trolley motor respectively; the trolley motor drives the trolley wheels to move on the moving track.
  • the setting of the ranging sensor can measure the position of the trolley, making the movement distance of the trolley more accurate; the motor of the trolley drives the wheels of the trolley to move on the moving track, thereby realizing the movement of the trolley on the moving track.
  • the mobile track 702 includes a first sub-track 711, a second sub-track 712 and a mobile vehicle support plate 713; the upper end surfaces of both sides of the mobile vehicle support plate 713 are symmetrically provided with first sub-track and second sub-track; the lower end surface of the trolley base is provided with two sets of trolley chutes on both sides, and the two sets of trolley chutes are respectively slidingly arranged on the first sub-track and the second sub-track;
  • the power contact panel 804 is provided on the mobile vehicle support plate
  • a wheel pad 714 is provided on the support plate of the mobile vehicle, and the wheels of the trolley move on the wheel pad 714 .
  • the lid opening mechanism includes a lid opening fixed base 901, a lid opening driving member 902, a lid opening big arm 903, a lid opening small arm 904 and a lid opening plate 905;
  • the lid-opening fixed base 901 is fixed in the extraction operation chamber, and the lid-opening driving member 902 is provided on the lid-opening fixed base 901; one end of the lid-opening boom 903 is rotatably arranged on the opening.
  • On the cover fixed base one end of the cover-opening small arm is rotatably arranged on the other end of the cover-opening large arm, and the other end of the cover-opening small arm is fixedly provided with a cover-opening disk 905;
  • the lid opening driving member 902 drives the rotation of the lid opening arm.
  • the lid opening tray includes a lid opening body tray, a lid opening positioning rod 906 and a lid opening electromagnetic component 907;
  • the lid-opening body plate is fixed on the other end of the lid-opening small arm, and the lid-opening body plate is provided with a lid-opening positioning rod and a lid-opening electromagnetic positive component;
  • the transfer box cover is provided with a transfer box positioning hole, and the cover opening positioning rod can be inserted into the transfer box positioning hole;
  • the transfer box cover is provided with a transfer box cover electromagnetic negative component, and the cover opening electromagnetic positive component It can be adsorbed with the electromagnetic negative part of the transfer box cover.
  • the cover-opening driving member is used to drive the cover-opening small arm for driving.
  • One end of the cover-opening small arm is rotatably arranged on the other end of the cover-opening big arm.
  • One end of the cover-opening big arm is rotatably arranged.
  • the electromagnetic positive part of the cover absorbs the electromagnetic negative part of the transfer box cover, so that the movement of the cover opening big arm and the cover opening small arm is used to open the transfer box lid; of course, the transfer box cover needs to be closed to the transfer box
  • the cover opening electromagnetic positive part is powered off, so that the cover opening electromagnetic part releases the transfer box lid.
  • the lid opening driving member 902 includes a lid opening driving motor, a lid opening driving guide rail 908 and a lid opening driving slide 909;
  • the lid opening driving motor 902 drives the lid opening driving slide 909 to perform lifting movement on the lid opening driving guide rail 908.
  • One end of the lid opening rotating shaft is fixed on the lid opening driving slide, and the other end of the lid opening rotating shaft is fixed on the lid opening driving slide. The end can be rotated or fixedly mounted on the opening arm.
  • the cover opening drive motor drives the cover opening drive slide 909 to move up and down on the cover opening drive guide rail, thereby driving the cover opening small arm and the cover opening big arm to rotate directly, thereby driving the cover opening big arm. Rotate on the fixed base of the lid opening to realize the movement of the lid opening plate.
  • the sample storage tank 2000 includes a sample tank body 20, a built-in liquid nitrogen tank 201, a turntable 202, a sample storage rotating shaft 203, and a sample storage motor 204. , basket 3000 and tank lid 4000;
  • the upper end cover of the sample tank body is provided with a tank cover
  • the built-in liquid nitrogen tank is arranged in the sample tank body, and the upper end surface of the built-in liquid nitrogen tank is provided with a transfer groove 205;
  • the sample storage motor drives the sample storage rotating shaft member to rotate, and the lower end of the sample storage rotating shaft member is rotatably arranged on the receiving transfer groove 205; a turntable is fixedly provided on the periphery of the sample storage rotating shaft member; the basket Set on the turntable; when the target storage box needs to be extracted, the sample storage motor is used to drive the sample storage shaft member to rotate, thereby driving the turntable to rotate, and the basket where the target storage box is located is rotated to the bottom of the tank lid to facilitate extraction.
  • the sample storage rotating shaft includes a central rotating shaft 206 and a receiving rotating shaft 207; the sample storage motor drives the central rotating shaft, a nitrogen-filled chamber is provided inside the central rotating shaft, and the lower end of the central rotating shaft is coaxial with the receiving rotating shaft.
  • the lower end of the receiving rotating shaft is rotatably arranged on the receiving rotating groove.
  • the nitrogen-filled chamber is filled with liquid nitrogen, which provides a layer of cold insulation structure.
  • a temperature insulation layer is provided inside the tank wall of the sample tank body.
  • the extraction operation room is further provided with a defrosting mechanism 10 and a code scanning identification device 101.
  • the defrosting mechanism is provided close to the sealed interface, and the code scanning identification device is provided At a location close to the defrost mechanism.
  • the defrost mechanism 10 includes a defrost drive motor and a defrost brush.
  • the defrost drive motor drives the defrost brush to rotate, and the grabbing hand is operated to grab the storage box onto the defrost brush.
  • the grabbing hand is operated to grab the storage box onto the defrost brush.
  • the extraction operation chamber is also provided with an observation window 102 and a detachable operation door 103 .
  • the observation window can facilitate observation of the extraction or access process, as well as the opening and disassembly operations. door to facilitate inspection and maintenance of the extraction operation room.

Abstract

一种提取操作室，该提取操作室，设置有多级Z向提取臂（11）和X向推送系统（12），利用多级Z向提取臂实现Z轴方向上的多距离路段的运动，这样就实现了提取件在Z轴方向上的多距离路段的运动，大大增加了在Z轴运动的深度或长度；且设置相对应的X向推动系统，X向推动系统实现了样本储存罐的罐盖或储存盒在X轴方向上的运动；实现Z轴和X轴方向同时给出操作空间的同时，提取结构设计合理，占空小，成本相对低，操作方便智能，且密封和保温高；以及一种智能化样本存取系统，保证了全程冷链，样本存取可实现多台设备对接，形成产业存取线，大大提高了样本存取效率的同时，更加便于存取样本产业线的管理。

Description

一种提取操作室及智能化样本存取系统 技术领域
本发明涉及生物样本储存领域，尤其涉及生物样本的提取及存放，具体的是涉及一种提取操作室及智能化样本存取系统。
背景技术
现有技术中生物样本的传输转运效率过低，同时存取样本的过程中不能保证全程冷链；现有技术生物样本的储存设备结构设计占空较大，多样本储存罐储存时样本转移或存取不方便操作，且无法保证全程冷链。且不能形成产业线化操作及管理。
发明内容
本发明第一个目的是提供一种提取操作室，解决现有技术中提取样本储存罐的罐盖及储存盒的机构设计不合理，占用空间过大，密封性及保温性欠佳的问题。
本发明第二个目的是提供一种智能化样本存取系统，解决现有技术中样本存取系统不灵活，多个样本储存罐样本对接或转移或存取不方便操作，且无法保证全程冷链的问题，现有技术中的存取系统也未能形成产业线化操作及管理。
本发明解决技术问题采用如下技术方案：一种提取操作室，包括多级Z向提取臂和X向推送系统，所述多级Z向提取臂为在Z轴方向上可实现多距离路段的移动臂，所述多级Z向提取臂上设置有提取件，且所述多级Z向提取臂可带动所述提取件实现Z轴方向上的运动；所述X向推动系统设置在与提取件相对应的位置，且X向推动系统可将提取件提取的样本储存罐的罐盖或储存盒推 送到设定位置。
优选的，所述多级Z向提取臂包括第一Z向提取臂、第二Z向提取臂及承接横向驱动臂；所述承接横向驱动臂设置在所述第一Z向提取臂上，所述第一Z向提取臂可带动承接横向驱动臂在Z轴方向上运动，所述第二Z向提取臂设置在所述承接横向驱动臂上；所述承接横向驱动臂可带动第二Z向提取臂在X方向上横向运动；所述提取件设置在所述第二Z向提取臂上，所述第二Z向提取臂可带动所述提取件在Z轴方向上做上下运动。
优选的，所述第一Z向提取臂包括Z向A驱动子电缸、Z向B驱动子电缸、Z向A轨道及Z向B轨道；所述承接横向驱动臂包括C驱动轨道及C驱动电缸；所述Z向A轨道及Z向B轨道分别Z轴方向竖直对称固定在提取操作室内，所述C驱动轨道的两端分别可滑动的设置在所述Z向A轨道及Z向B轨道上，所述Z向A驱动子电缸及Z向B驱动子电缸分别对C驱动轨道的两端进行上下运动的驱动；所述第二Z向提取臂可滑动的设置在所述C驱动轨道上，且所述C驱动电缸对其进行驱动；所述第二Z向提取臂包括Z向D驱动电缸，所述Z向D驱动电缸上设置有提升件，且驱动提升件上下运动。
优选的，所述X向推送系统包括X向推送构件和罐盖存放区；所述X向推送构件与所述罐盖存放区相对设置；X向推送构件可将提取件提取的罐盖或储存盒推送到罐盖存放区或设定位置。
优选的，所述X向推送系统包括X向推送构件和罐盖存放区；且所述X向推送构件和罐盖存放区分别设置在所述多级Z向提取臂在X轴方向上的两侧；X向推送构件可将提取件提取的罐盖或储存盒推送到罐盖存放区或设定位置；所述X向推送构件包括推送基座架、推送驱动电机、X轴运动推板及推送导杆；所述推送基座架固定在所述多级Z向提取臂一侧的下方，所述推送驱动电机及推送导杆分别固定在所述推送基座架上，且所述X轴运动推板在所述推送驱动电机的驱动下沿所述推送导杆运动；所述X轴运动推板可从多级Z向提取臂的一侧运动延伸到另一侧，且靠近罐盖存放区；所述罐盖存放区靠近X轴运动推板的一侧开设有接收存放口。
优选的，还包括Y向接收系统；所述Y向接收系统可接收储存盒，且将储存盒运送到X向推送系统相对应的位置。
优选的，所述Y向接收系统包括Y向轨道、Y向移动托盘及存盒接收通道； 所述Y向轨道沿Y轴方向延伸而成，且设置在所述推送基座架下方；所述存盒接收通道可滑动的设置在所述Y向轨道上，且所述存盒接收通道在X轴方向上具有一定长度；所述Y向移动托盘在X轴方向上可滑动的设置在存盒接收通道上。
优选的，所述Y向接收系统还包括存盒推送构件，所述存盒推送构件设置在与存盒接收通道相对应的位置，可对存盒接收通道上的Y向移动托盘进行推送。
优选的，所述存盒推送构件包括存盒推送驱动电机及存盒推送板件，所述存盒推送驱动电机设置在所述推送基座架下端面上，所述存盒推送板件可滑动的设置在所述推送基座架下端面上，存盒推送驱动电机驱动存盒推送板件在X轴方向做伸缩运动。
优选的，所述存盒推送板件包括存盒推送第一子板、存盒推送第二子板及存盒推送头，所述存盒推送第一子板上端面可滑动的设置在所述推送基座架下端面上，所述存盒推送第一子板的一端与存盒推送第二子板的一端成直角固定，存盒推送第二子板的另一端与存盒推送头成直角相固定；所述存盒推送板件成反向倒置的“Z”形。
优选的，所述Y向接收系统还包括Y向驱动电机、Y向转轴丝杠及存盒接收通道承接螺母；所述Y向驱动电机驱动对所述Y向转轴丝杠的一端驱动其转动，所述Y向转轴丝杠的另一端可转动的设置在所述Y向轨道远离推送基座架的一端；所述存盒接收通道承接螺母固定在所述存盒接收通道的一端上，且所述Y向转轴丝杠与所述存盒接收通道承接螺母啮合；所述Y向驱动电机驱动设置在所述存盒推送第一子板与存盒推送第二子板连接处的下方，所述存盒接收通道可移动至与存盒推送头相对应的位置。
优选的，所述Y向接收系统还包括低温保障件，所述低温保障件设置在所述存盒接收通道下方或固定在所述存盒接收通道的下端面上；所述低温保障件内部具有容纳腔，且低温保障件上端面开设有多个与容纳腔相贯通的通氮孔；所述低温保障件的容纳腔与供氮管道相连通。
优选的，所述低温保障件成盒状或圆柱状或半球状。
优选的，所述罐盖存放区包括罐盖存放壳体及罐盖存放驱动构件，所述罐盖存放壳体靠近所述X向推送构件一侧开设有接收存放口；且所述罐盖存放壳 体靠近所述提取件的端面开设有罐盖提取口；
所述罐盖存放驱动构件可驱动所述罐盖存放壳体在X轴方向上运动。
优选的，所述罐盖存放驱动构件包括存放驱动基座、存放驱动轨道及存放驱动衔接板架；所述存放驱动基座固定在提取操作室内，且位于多级Z向提取臂另一侧的下方，所述存放驱动轨道设置在所述存放驱动基座上；所述存放驱动衔接板架一端可滑动的设置在所述存放驱动轨道上，另一端固定在罐盖存放壳体上。
优选的，所述存放驱动基座设置在所述罐盖存放壳体上方，所述存放驱动基座上端面两侧分别对称设置有第一存放子驱动轨道和第二存放子驱动轨道；所述存放驱动基座上端面位于第一存放子驱动轨道和第二存放子驱动轨道外的两侧分别开设有两列X轴方向上的驱动走向通道；
所述存放驱动衔接板架包括存放驱动滑动板、存放驱动第一夹板及存放驱动第二夹板；所述存放驱动滑动板可滑动的设置在所述第一存放子驱动轨道和第二存放子驱动轨道上；所述存放驱动第一夹板的上端垂直固定在所述存放驱动滑动板的一侧，且所述存放驱动第一夹板的下端穿过一侧的所述驱动走向通道固定在所述罐盖存放壳体上；所述存放驱动第二夹板的上端垂直固定在所述存放驱动滑动板的另一侧，且所述存放驱动第二夹板的下端穿过另一侧的所述驱动走向通道固定在所述罐盖存放壳体上。
优选的，还包括储存盒回送构件；所述储存盒回送构件设置在所述存盒推送板件相对的位置；所述储存盒回送构件包括回送推板，所述回送推板可在X轴上做伸缩运动。
优选的，所述储存盒回送构件包括回送构件基板及回送构件驱动电机；
所述回送构件基板设置在所述罐盖存放壳体下放且与所述存盒推送构件相对的位置，所述回送推板在回送构件驱动电机的驱动下可滑动的设置在所述回送构件基板上，且所述回送推板靠近所述存盒推送头的一侧设置有回送推头。
优选的，所述提取件上设置有阳极电磁件；所述罐盖上端面设置有阴性磁件，提篮上端面上设置有阴性磁件。
优选的，所述多级Z向提取臂还包括X进级臂，所述X进级臂设置在所述第二Z向提取臂上，所述第二Z向提取臂可带动所述X进级臂在Z轴升降运动；所述提取件设置在所述X进级臂上，所述X进级臂可带动提取件在X轴运动； 所述提取件下端设置有向两侧延伸的提取把，所述罐盖上端面上设置有承接槽，所述承接槽可在X轴方向上接收提取把，所述提取把在Z轴方向上对承接槽进行限制提取。
优选的，包括转运对接构件、上述所述的提取操作室及样本储存罐；
所述提取操作室密封设置在样本储存罐上端；所述提取操作室设置有密封对接口；所述转运对接构件设置在所述样本储存罐外一侧，且所述转运对接构件可接收转运箱，且可带动转运箱使其转运箱开口对接到所述密封对接口上。
优选的，所述转运对接构件包括移动轨道、移动小车和对接驱动件，所述移动轨道设置在样本储存罐外一侧，所述移动小车设置在移动轨道上，且所述移动小车可沿所述移动轨道带动转运箱移动；所述对接驱动件可带动转运箱，使其转运箱开口与密封对接口密封对接上。
优选的，所述移动轨道成C型或U型或凹型。
优选的，所述对接驱动件包括对接驱动电机、对接竖向轨道及对接升降架；所述对接驱动电机驱动所述对接升降架沿所述对接竖向轨道做升降运动；
所述移动轨道设置在所述对接竖向轨道上端，两者成T型或倒置L型设置；且移动轨道的一端穿过所述对接升降架；
所述对接升降架上端为两个非连接的自由端，且两个自由端分别设有升降承接板；两个升降承接板之间设置有升降支撑板；转运箱可放置或可设置在所述升降支撑板上。
优选的，所述移动小车包括小车基座、小车电池及电片连接板；
所述小车基座下端面设置有小车滑槽，所述小车滑槽可滑动的设置在所述移动轨道上；所述小车基座下端设置有小车电池，小车电池与电片连接板电连；所述移动轨道上且位于小车基座下方与电片连接板相对应的位置设置有电源触板。
优选的，所述移动小车还包括测距传感器、单片机、小车电机及小车车轮，所述测距传感器设置在所述小车基座下端面上；所述单片机分别与测距传感器及小车电机电连；所述小车电机驱动所述小车车轮在所述移动轨道运动。
优选的，所述移动轨道包括第一子轨道、第二子轨道及移动车支撑板；所述移动车支撑板两侧上端面对称设置有第一子轨道和第二子轨道；小车基座下端面分别在两侧设置有两组小车滑槽，两组小车滑槽分别滑动设置在第一子轨 道和第二子轨道上；所述电源触板设置在所述移动车支撑板上；所述移动车支撑板上设置有车轮垫，所述小车车轮在所述车轮垫上运动。
优选的，所述移动小车的小车基座上端面设置有小车定位柱；所述升降承接板设置有与小车定位柱相对应的定位孔。
优选的，所述提取操作室还包括开盖机构，所述开盖机构设置在所述密封对接口相对的位置，所述开盖机构可对密封对接口所对接的转运箱开口上转运箱盖进行开盖。
优选的，所述开盖机构包括开盖固定底座、开盖驱动件、开盖大臂杆、开盖小臂杆及开盖盘；所述开盖固定底座固定在所述提取操作室内，所述开盖驱动件设置在所述开盖固定底座上；所述开盖大臂杆一端可转动的设置在所述开盖固定底座上，所述开盖小臂杆的一端可转动的设置在所述开盖大臂杆的另一端，所述开盖小臂杆的另一端固定设置有开盖盘；所述开盖驱动件对开盖小臂杆的转动进行驱动。
优选的，所述开盖盘包括开盖本体盘、开盖定位杆及开盖电磁件；
所述开盖本体盘固定在所述开盖小臂杆的另一端，所述开盖本体盘上设置有开盖定位杆及开盖电磁阳性件；所述转运箱箱盖上设置有转运箱定位孔，所述开盖定位杆可插入转运箱定位孔；所述转运箱箱盖上设置有转运箱箱盖电磁阴性件，所述开盖电磁阳性件可与转运箱盖电磁阴性件彼此进行吸附。
优选的，所述开盖驱动件包括开盖驱动电机、开盖驱动导轨及开盖驱动滑座；所述开盖驱动电机驱动开盖驱动滑座在所述开盖驱动导轨上做升降运动，所述开盖驱动滑座向外延伸设有开盖转轴，所述开盖转轴一端固定在所述开盖驱动滑座上，开盖转轴的另一端可转动或固定设置在所述开盖小臂杆上。
优选的，所述样本储存罐包括样本罐本体、内置液氮罐体、转盘、样本储存转轴件、样本储存电机、提篮及罐盖；所述样本罐本体上端面盖设有罐盖；所述内置液氮罐体设置在所述样本罐本体内，所述内置液氮罐体上端面设置有承接转槽；所述样本储存电机驱动所述样本储存转轴件进行转动，所述样本储存转轴件下端可转动的设置在所述承接转槽上；所述样本储存转轴件外围固定设置有转盘；所述提篮设在所述转盘上；所述样本储存转轴件包括中心转轴和承接转轴；所述样本储存电机对其中心转轴进去驱动，所述中心转轴内部设置充氮腔，所述中心转轴的下端与所述承接转轴同轴连接，所述承接转轴的下端 可转动的设置在所述承接转槽上。
优选的，所述样本罐本体的罐壁内部设置有隔温层。
优选的，所述提取操作室内还设置有去霜机构及扫码识别装置，所述去霜机构设置在靠近所述密封对接口处，所述扫码识别装置设置在靠近所述去霜机构位置。
优选的，所述提取操作室还设置有观察窗和可拆卸操作门。
本发明具有第一个如下有益效果：提取操作室，设置有多级Z向提取臂和X向推送系统，利用多级Z向提取臂实现Z轴方向上的多距离路段的运动，这样就实现了提取件在Z轴方向上的多距离路段的运动；这样大大增加了在Z轴运动的深度或长度；且设置相对应的X向推动系统，X向推动系统实现了样本储存罐的罐盖或储存盒在X轴方向上的运动；实现Z轴和X轴方向同时给出操作空间的同时，提取结构设计合理，占空小，成本相对低，操作方便智能，且密封和保温高。
本发明具有第二个如下有益效果：智能化样本存取系统，保证了全程冷链，样本存取实现可多台设备对接，形成产业存取线，大大提高了样本存取效率的同时，更加便于存取样本产业线的管理。
附图说明
图1为多级Z向提取臂结构示意图；
图2为X向推送系统及存盒推送构件(图1局部放大图)；
图3为智能化样本存取系统结构示意图；
图4为图3半剖视图；
图5为转运对接构件结构示意图；
图6为移动小车结构示意图；
图7为移动小车在移动轨道上的结构示意图；
图8为开盖机构结构示意图；
图9为样本储存罐版剖结构示意图；
图10为多级Z向提取臂与罐盖存放区结构示意图；
图11提取把与承接槽结构示意图。
图中标记示意为：
1-提取操作室；
11-多级Z向提取臂；111-提取件；1112-提取把；1113-承接槽；
112-第一Z向提取臂；113-第二Z向提取臂；114-承接横向驱动臂；115-Z向A驱动子电缸；116-Z向B驱动子电缸；117-Z向A轨道；118-Z向B轨道；119-C驱动轨道；120-C驱动电缸；121-Z向D驱动电缸；
12-X向推送系统；121-X向推送构件；122-推送基座架；123-推送驱动电机；124-X轴运动推板；125-推送导杆；
13-罐盖存放区；131-接收存放口；132-罐盖存放壳体；133-罐盖存放驱动构件；134-罐盖提取口；135-存放驱动基座；136-存放驱动轨道；137-存放驱动衔接板架；138-第一存放子驱动轨道；139-第二存放子驱动轨道；1310-驱动走向通道；1311-存放驱动滑动板；1312-存放驱动第一夹板；1313-存放驱动第二夹板；
14-Y向接收系统；141-Y向轨道；142-Y向移动托盘；143-存盒接收通道；
144-Y向驱动电机；145-Y向转轴丝杠；146-存盒接收通道承接螺母；
15-存盒推送构件；151-存盒推送驱动电机；152-存盒推送板件；153-存盒
推送第一子板；154-存盒推送第二子板；155-存盒推送头；
16-低温保障件；161-通氮孔；
17-储存盒回送构件；171-回送推板；172-回送构件基板；173-回送构件驱
动电机；174-回送推头；
18-密封对接口；
1000-储存盒；2000-样本储存罐；3000-提篮；4000-罐盖；5000-操作抓取手；6-提篮接收盘；
7-转运对接构件；701-转运箱；702-移动轨道；703-移动小车；704-对接驱动件；705-对接驱动电机；706-对接竖向轨道；707-对接升降架；708-升降承接板；709-升降支撑板；710-转运箱限位板；711-第一子轨道；712-第二子轨道；713-移动车支撑板；714-车轮垫；
8-小车基座；801-小车电池；802-电片连接板；803-小车滑槽；804-电源触板；805-小车定位柱；806-测距传感器；807-单片机；808-小车电机；809-小车车轮；
9-开盖机构；901-开盖固定底座；902-开盖驱动件；903-开盖大臂杆；904-开盖小臂杆；905-开盖盘；906-开盖定位杆；907-开盖电磁件；908-开盖驱动导轨；909-开盖驱动滑座；
20-样本罐本体；201-内置液氮罐体；202-转盘；203-样本储存转轴件；204-样本储存电机；205-承接转槽；206-中心转轴；207-承接转轴；
10-去霜机构；101-扫码识别装置；102-观察窗；103-可拆卸操作门。
具体实施方式
下面结合实施例及附图对本发明的技术方案作进一步阐述。
生物样本提取后存放到生物样本冻存管内，多个生物样本冻存管统一存放到储存盒1000内，多个储存盒1000存放在样本储存罐2000内进行低温储存；样本储存罐2000内设置有提篮3000，多个储存盒1000存放在提篮3000里，方便存取。现有的样本储存罐2000低温环境是由供氮形成，也就是液氮罐。在对样本储存罐2000内的生物样本冻存管进行提取时，先打开样本储存罐2000的罐盖4000，从提篮中提取出储存盒1000，将储存盒1000放入到转运箱701中，利用转运箱701进行转运。这里要说明的是，罐盖4000的密封性是重要的，为了保障样本储存罐2000内的低温环境，所以提取时可设置开盖机构；打开样本储存罐提出提篮3000，在提篮3000中提出目标冻存管。当然存取过程是上述反向过程，这里不再赘述。
实施例1
在上述操作过程，本发明公开了一种提取操作室1，可保证了在密封低温环境对样本储存罐2000的罐盖4000提取开盖后，将冻存管从提篮3000中提取出来。实现Z轴和X轴方向同时给出操作空间的同时，提取结构设计合理，占空小，成本相对低，操作方便智能，且密封和保温高。
本实施例提供了一种提取操作室，包括多级Z向提取臂11和X向推送系统 12，所述多级Z向提取臂11为在Z轴方向上可实现多距离路段的移动臂，所述多级Z向提取臂11上设置有提取件111，且所述多级Z向提取臂11可带动所述提取件111实现Z轴方向上的运动；所述X向推动系统12设置在与提取件111相对应的位置，且X向推动系统12可将提取件111提取的样本储存罐2000的罐盖4000或储存盒1000推送到设定位置。
本发明所公开的多级Z向提取臂11(本实施例的Z向定位竖直方向，下同，不再赘述)可以是在Z向的机械手，也可以是Z向驱动臂这里不限制，实现多路段多距离移动臂均属于本发明保护范围；多级Z向提取臂11和X向推送系统12配合可大大减少占用空间，成本相对低，操作方便智能，且密封和保温高。现有技术中有很多设计三轴机械手，不仅占用空间大，而且密封性及保温性不好。
本实施例优先的一种多级Z向提取臂11的实施方式：所述多级Z向提取臂11包括第一Z向提取臂112、第二Z向提取臂113及承接横向驱动臂114；
所述承接横向驱动臂114设置在所述第一Z向提取臂112上，所述第一Z向提取臂可带动承接横向驱动臂在Z轴方向上运动，所述第二Z向提取臂113设置在所述承接横向驱动臂114上；所述承接横向驱动臂可带动第二Z向提取臂在X方向上横向运动；所述提取件111设置在所述第二Z向提取臂113上，所述第二Z向提取臂可带动所述提取件在Z轴方向上做上下运动。第一Z向提取臂可带动承接横向驱动臂在Z向即竖直方向上运动，从而由承接横向驱动臂也可带动第二Z向提取臂在第一Z向提取臂的可操作运动段竖直运动；第二Z向提取臂本身在Z轴方向上具有可操作的竖直运动段，因此在Z轴竖直方向上形成了两个路程操作段，大大增加了竖直方向上操作的深度和长度；又因设置有承接横向驱动臂可实现第二Z向提取臂在X横向方向上运动，实现了第二Z轴向提取臂在X轴方向上的运动。这种设计既不占用太大空间、稳定性强而且可操作路程也广。
为了更好的配合X向推动系统，进一步的本实施例公开了更具体的一种多级Z向提取臂的方式：所述第一Z向提取臂包括Z向A驱动子电缸115、Z向B驱动子电缸116、Z向A轨道117及Z向B轨道118；所述承接横向驱动臂114包括C驱动轨道119及C驱动电缸120；
所述Z向A轨道117及Z向B轨道118分别Z轴方向竖直对称固定在提取 操作室1内，所述C驱动轨道119的两端分别可滑动的设置在所述Z向A轨道及Z向B轨道上，所述Z向A驱动子电缸及Z向B驱动子电缸分别对C驱动轨道119的两端进行上下运动的驱动；Z向A轨道117及Z向B轨道118成对称设置，在Z向A轨道及Z向B轨道之间的空间可为X推向系统12的操作空间，这样X推向系统12的设置位置可为根据提取件来设置，结构设计更合理，提取件将样本储存罐2000的罐盖4000提取后，提取的位置对应在Z向A轨道及Z向B轨道之间，这样X推向系统设置的位置将罐盖推送到设定位置或罐盖存放区。
所述第二Z向提取臂113可滑动的设置在所述C驱动轨道119上，且所述C驱动电缸120对其进行驱动；所述第二Z向提取臂113包括Z向D驱动电缸121，所述Z向D驱动电缸121上设置有提升件11，且驱动提升件11上下运动。
将多级Z向提取臂11设置在样本储存罐2000上，利用上述多级Z向提取臂对样本储存罐的罐盖或提篮进行提取的过程：Z向A驱动子电缸115和Z向B驱动子电缸116驱动C驱动轨道119到向下运动，从而带动设置在C驱动轨道119上的第二Z向提取臂113向下运动；当然C驱动电缸也可驱动第二Z向提取臂在C驱动轨道上做横向运动，为了使得设置在第二Z向提取臂上提取件在横向上移动到合适位置；第一Z向提取臂运动之后，为了满足更深入的提取需求，设置第二Z向提取臂，第二Z向提取臂在Z向D驱动电缸带动下做向下运动，从而带动提升件向下运动，对样本储存罐的罐盖进行提取。
这里公开了两种提取件的实施方式，一种为：所述提取件111上设置有阳极电磁件；所述罐盖上端面设置有阴性磁件，提篮上端面上设置有阴性磁件。需要对罐盖进行提取时，提取件向下运动到罐盖上端面上，利用阳极电磁件与阴性磁件的配合，实现提取件对罐盖的提取；当需要对罐盖释放时，阳极电磁件断电，实现释放；同样，提取件对提篮进行提取时也是利用阳极电磁件与阴性磁件的配合实现的。
本实施例优选的一种提取件的实施方式，所述多级Z向提取臂11还包括X进级臂(图中未示出)，所述X进级臂设置在所述第二Z向提取臂113上，所述第二Z向提取臂113可带动所述X进级臂在Z轴升降运动；所述提取件设置在所述X进级臂上，所述X进级臂可带动提取件在X轴运动；所述提取件下端设置有向两侧延伸的提取把1112，如图11所示，所述罐盖4000上端面上设置有 承接槽1113，所述承接槽1113可在X轴方向上接收提取把1112，所述提取把1112可在Z轴方向上对承接槽1113进行限制提取。
当第二Z向提取臂113带动或间接带动提取件111到达对罐盖4000的提取位置时，此时提取件下端的提取把1112在X轴方向上与承接槽1113在同一水平线上，X进级臂带动提取件也就是带动提取把1112在X轴方向上运动，使得提取把1112从X轴方向上进入承接槽1113；又因为提取把在Z轴方向上对承接槽进行限制，因为提取把在Z轴方向上对罐盖进行提取。当然提取过程就是第二Z向提取臂及第一Z向驱动臂带动其向上运动，承接横向驱动臂负责X轴横向上的运动，将提取的罐盖放到目标位置。
为了更好的将罐盖存放或提取，也为了更有效低成本又稳定的结构合理，本发明提取操作室设置X向推送系统12，X向推送系统12是将多级Z向提取臂11提取上来的罐盖4000，推送到指定位置；这里指定位置公开了一种设计结构：罐盖存放区13。
本实施例优选的一种X向推送系统12：所述X向推送系统12包括X向推送构件121和罐盖存放区13；所述X向推送构件13与所述罐盖存放区13相对设置，这里所述的相对设置，是指在X轴方向上，X向推送构件12设置的位置与罐盖存放区13设置的位置是可以达到X向推送构件12可将提取件111提取的罐盖4000或储存盒1000推送到罐盖存放区13的目的；当然这里也可设置X向推送构件121将提取件提取的罐盖推送到设定位置。只要达到将样本储存罐的罐盖开盖，且放到不妨碍再去提取提篮或储存盒的目的就包括在上述范围之内。因优选设置的提取件的承接槽在X轴方向上对接收提取把没有限制，所有X向推送系统的X向推送构件不用再过多复杂的其他方向上的设置，只要满足X轴方向上的推送就可实现。大大节省了成本和结构设计的空间。
本实施例优选的X向推送系统12进一步实施方式，所述X向推送系统12包括X向推送构件121和罐盖存放区13；且所述X向推送构件121和罐盖存放区13分别设置在所述多级Z向提取臂11在X轴方向上的两侧；X向推送构件121可将提取件提取的罐盖或储存盒推送到罐盖存放区或设定位置；
所述X向推送构件121包括推送基座架122、推送驱动电机123、X轴运动推板124及推送导杆125；所述推送基座架122固定在所述多级Z向提取臂11一侧的下方，所述推送驱动电机123及推送导杆125分别固定在所述推送基座 架122上，且所述X轴运动推板124在所述推送驱动电机123的驱动下沿所述推送导杆125运动；所述X轴运动推板124可从多级Z向提取臂11的一侧运动延伸到另一侧，且靠近罐盖存放区13；
所述罐盖存放区13靠近X轴运动推板124的一侧开设有接收存放口131。
需要对样本储存罐2000内的冻存管进行提取时，多级Z向提取臂11利用提取件先将罐盖4000提取到与X向推送构件121相对应的位置，推送驱动电机123驱动X轴运动推板124在推送导杆125上运动，从此X轴运动推板124从多级Z向提取臂11的一侧穿到其下方将罐盖4000推送到位于多级Z向提取臂11另一侧的罐盖存放区13，从而将罐盖4000推送进罐盖存放区13；这样不仅实现了对罐盖的提取存放，也方便多级Z向提取臂再对样本储存罐内的提篮或样本储存盒进行提取。当然罐盖存放区靠近X轴运动推板的一侧开设有接收存放口，罐盖被X向推送构件推送到罐盖存放区从接收存放口接收。
在设定有多级Z向提取臂11及X向推送系统12，还包括Y向接收系统14；Y向接收系统14的设置是更合理有效的接收转运箱直接或间接运送来的储存盒。这里优选的一种方式是：所述Y向接收系统14可接收储存盒1000，且将储存盒1000运送到X向推送系统12相对应的位置。设置Y向接收系统14，在Y轴方向上可接收储存盒1000，使得提取操作室1在Y轴方向上也能操作，且方便接收储存盒。
本实施例优选的进一步实施方式，所述Y向接收系统14包括Y向轨道141、Y向移动托盘142及存盒接收通道143；所述Y向轨道141沿Y轴方向延伸而成，且设置在所述推送基座架122下方；所述存盒接收通道143可滑动的设置在所述Y向轨道141上，且所述存盒接收通道143在X轴方向上具有一定长度；所述Y向移动托盘142在X轴方向上可滑动的设置在存盒接收通道143上。
所述Y向接收系统14还包括存盒推送构件15，所述存盒推送构件15设置在与存盒接收通道143相对应的位置，可对存盒接收通道143上的Y向移动托盘142进行推送。
所述存盒推送构件15包括存盒推送驱动电机151及存盒推送板件152，所述存盒推送驱动电机151设置在所述推送基座架122下端面上，所述存盒推送板件152可滑动的设置在所述推送基座架122下端面上，存盒推送驱动电机151驱动存盒推送板件152在X轴方向做伸缩运动。
本实施例中Y向移动托盘142接收外接对接过来的储存盒1000，这里可以在提取操作室内设置一个操作抓取手5000，将目标储存盒1000抓取到Y向移动托盘142上；也可以设置其他抓取方式，这里不受限制。Y向移动托盘142接收到目标储存盒后，在驱动件的驱动下，这里肯定设置对存盒接收通道143进行驱动的驱动件，不再多赘述；由存盒接收通道142带动Y向移动托盘142在Y轴方向上运动，将目标储存盒带动至存盒推送构件15相对应的位置，存盒推送构件15的存盒推送驱动电机151驱动存盒推送板件152将目标储存盒在X轴方向上推送出去，到达目的地。
这里的存盒推送板件152将目标储存盒推送出去，在这之前多级Z向提取臂11在将样本储存罐2000的罐盖4000提取，由X向推送系统12推送到罐盖存放区13后；多级Z向提取臂11在同样的动作，向下运动，使得提取件111运动到样本储存罐2000内将提取提篮3000，上述已经阐述了提取件的设置方式，提篮的上端面也是配合提取件的提取进行设置的，这里优选的是提篮上端面也设置在X轴方向上不限制，在Z轴方向上对提取1112进行限制的承接槽1113的结构设置方式，同样提取过程，这里不再赘述。提取件将提篮提取到与存盒推送构件15相对应的位置，存盒推送驱动电机151驱动存盒推送板件152，存盒推送板件152在X轴方向上运动，将目标储存盒推送到提篮中；如图4所示，这里公开的提篮是有多个在X轴方向可接收的提篮接收盘6竖直阵列而成，存盒推送板件将其推送进目标提篮接收盘6中。提篮接收到目标提篮接收盘6后，多级Z向提取臂11再带动提篮下降至初始状态，从而对目标储存盒进行储存的目的。
本实施例优选的存盒推送板件15的一种实施方式，所述存盒推送板件15包括存盒推送第一子板153、存盒推送第二子板154及存盒推送头155，所述存盒推送第一子板153上端面可滑动的设置在所述推送基座架122下端面上，所述存盒推送第一子板153的一端与存盒推送第二子板154的一端成直角固定，存盒推送第二子板154的另一端与存盒推送头155成直角相固定；所述存盒推送板件152成反向倒置的“Z”形。这样设置将X向推送系统12与存盒推送构件15合理的设置在一起，结构紧凑，也更符合X向推送系统12与存盒推送构件15推送运转。
本实施例优选进一步优选Y向接收系统14更具体的实施方式，所述Y向接 收系统14还包括Y向驱动电机144、Y向转轴丝杠145及存盒接收通道承接螺母146；所述Y向驱动电机144驱动对所述Y向转轴丝杠145的一端驱动其转动，所述Y向转轴丝杠145的另一端可转动的设置在所述Y向轨道141远离推送基座架122的一端；
所述存盒接收通道承接螺母146固定在所述存盒接收通道143的一端上，且所述Y向转轴丝杠145与所述存盒接收通道承接螺母146啮合；
所述Y向驱动电机驱动设置在所述存盒推送第一子板与存盒推送第二子板连接处的下方，所述存盒接收通道可移动至与存盒推送头相对应的位置。
Y向驱动电机144驱动Y向转轴丝杠145转动，从而带动存盒接收通道承接螺母146沿Y向转轴丝杠145在Y轴向直线运动，从而带动Y存盒接收通道143在Y轴向直线运动，从而实现Y向移动托盘142在接收目标储存盒后带其Y向运动，运动至存盒推送头155相对应位置，存盒推送头155推送其进入提篮内。
为了进一步提高目标储存盒在提取过程中低温环境的稳定性更高，提供本实施例优选的还提供了一种实施方式，所述Y向接收系统14还包括低温保障件16，所述低温保障件16设置在所述存盒接收通道143下方或固定在所述存盒接收通道143的下端面上；所述低温保障件内部具有容纳腔，且低温保障件上端面开设有多个与容纳腔相贯通的通氮孔161；所述低温保障件的容纳腔与供氮管道相连通。低温保障件内设置有容纳腔，容纳腔与供氮管相连通，因此供氮管道向低温保障件的容纳腔供氮，因设置有通氮孔因此氮液从通氮孔溢出对存盒接收通道不断的提供低温保障。
本实施例优选的进一步实施方式，所述低温保障件成盒状或圆柱状或半球状。这里不限制低温保障件的具体结构，这里如图2所示具体公开了一种，低温保障为矩形盒体，存盒接收通道设置在所述矩形盒体上。
本实施例优选的进一步公开了罐盖存放区的实施方式，所述罐盖存放区13包括罐盖存放壳体132及罐盖存放驱动构件133，所述罐盖存放壳体132靠近所述X向推送构件121一侧开设有接收存放口131；且所述罐盖存放壳体132靠近所述提取件的端面开设有罐盖提取口134；
所述罐盖存放驱动构件133可驱动所述罐盖存放壳体132在X轴方向上运动。为了配合X向推送系统12使得罐盖存放区更稳定的接收罐盖，设置罐盖存 放驱动构件驱动罐盖存放壳体在X轴方向上运动。
具体的优选的罐盖存放驱动构件133的实施方式，所述罐盖存放驱动构件133包括存放驱动基座135、存放驱动轨道136及存放驱动衔接板架137；
所述存放驱动基座135固定在提取操作室内，且位于多级Z向提取臂11另一侧的下方，所述存放驱动轨道136设置在所述存放驱动基座135上；所述存放驱动衔接板架137一端可滑动的设置在所述存放驱动轨道136上，另一端固定在罐盖存放壳体132上。
所述存放驱动基座135设置在所述罐盖存放壳体132上方，所述存放驱动基座135上端面两侧分别对称设置有第一存放子驱动轨道138和第二存放子驱动轨道139；
所述存放驱动基座135上端面位于第一存放子驱动轨道138和第二存放子驱动轨道139外的两侧分别开设有两列X轴方向上的驱动走向通道1310；
所述存放驱动衔接板架137包括存放驱动滑动板1311、存放驱动第一夹板1312及存放驱动第二夹板1313；所述存放驱动滑动板1311可滑动的设置在所述第一存放子驱动轨道138和第二存放子驱动轨道139上；所述存放驱动第一夹板的上端垂直固定在所述存放驱动滑动板的一侧，且所述存放驱动第一夹板的下端穿过一侧的所述驱动走向通道固定在所述罐盖存放壳体上；所述存放驱动第二夹板的上端垂直固定在所述存放驱动滑动板的另一侧，且所述存放驱动第二夹板的下端穿过另一侧的所述驱动走向通道固定在所述罐盖存放壳体上。
所述存放驱动基座135设置在所述罐盖存放壳体132上方，这样设置能使罐盖存放壳体更好的与X轴推送系统相对接；存放驱动基座上设置有存放驱动电机，所述存放驱动电机驱动所述存放驱动滑动板在X轴方向上运动，从而带动存放驱动第一夹板及存放驱动第二夹板在X轴方向上运动，从而带动罐盖存放壳体在X轴方向上运动。由于设置存放驱动第一夹板的上端垂直固定在所述存放驱动滑动板的一侧，且所述存放驱动第一夹板的下端穿过一侧的所述驱动走向通道固定在所述罐盖存放壳体上；这样设置不仅使得整个结构紧凑稳定，而且提高了驱动罐盖存放壳体的稳定性，而且更好的配合X轴推送系统及被提取件提取的罐盖。
本实施例优选的进一步实施方式，提取操作室1还包括储存盒回送构件17；所述储存盒回送构件17设置在所述存盒推送板件15相对的位置；所述储存盒 回送构件17包括回送推板171，所述回送推板171可在X轴上做伸缩运动。
所述储存盒回送构件17包括回送构件基板172及回送构件驱动电机173；
所述回送构件基板172设置在所述罐盖存放壳体132下放且与所述存盒推送构件17相对的位置，所述回送推板171在回送构件驱动电机173的驱动下可滑动的设置在所述回送构件基板172上，且所述回送推板171靠近所述存盒推送头155的一侧设置有回送推头174。
现以需要从样本储存罐中提取储存盒的过程进一步阐述：首先利用多级Z向提取臂与X向推送系统将样本储存罐的罐盖提取至罐盖存放区存放；然后多级Z向提取臂再将提篮提取到目标位置，这里所述的目标位置是指将提篮的带动目标储存盒的储存盒存放架提取到与回送推头相对应的位置；此时回送构件驱动电机驱动回送推板在X轴上向目标储存盒运动，利用回送推头将目标储存盒推送到Y向移动托盘上，当然在此之前Y向移动托盘已经被带动到与储存盒回送构件的回送推头相对应的位置；Y向移动托盘接收到目标储存盒后利用存盒接收通道在Y轴方向上的运动，带其运动到操作抓取手方便抓取的位置，由操作抓取手将目标储存盒抓取到转运箱内，由转运箱转移走；当目标储存盒放入转运箱内后，开盖机构将原本打开的转运箱的转运箱箱盖再盖合到转运箱上实行密封。
当多级Z向提取臂与存盒回送构件配合对目标储存盒进行提取后，多级Z向提取臂再将提篮放回入样本储存罐中，再需要对样本储存罐的罐盖进行提取盖合，罐盖的提取盖合的运作过程如下：因罐盖存放壳体靠近所述提取件的端面开设有罐盖提取口，也就是罐盖存放壳体的上端面开设有罐盖提取口；当需要盖合罐盖时，提取件先运动至与罐盖在X轴水平方向上相对应的位置，也就是提取件的提取把与罐盖的承接槽在X轴水平方向相对应的位置；此时由罐盖存放驱动构件驱动罐盖存放壳体向提取件方向运动，从而带动在罐盖存放壳体上的罐盖X轴方向运动，直至运动到提取把进入承接槽，是的提取件在Z轴方向上对样本储存罐的罐盖可进行提取；提取把和承接槽对接后，罐盖存放驱动构件驱动罐盖存放壳体原路返回；多级Z向提取臂的带动下提取件将罐盖带回样本储存罐使其盖合，从而完成整个过程；当然在对储存盒进行存取过程中，存取完毕后，需要对罐盖进行盖合也是同样的运作过程。
实施例2
现有技术中的样本存储系统，在整个存取过程中不仅针对样本储存罐的提取结构设计不合理，成本高，而且不能实现多台设备的连接，不能形成样本库的产业存取线，更不能保证在整个产业存取线过程中的全称冷链。
本实施例提供了一种智能化样本存取系统，包括转运对接构件7、上述实施例1中所述的任意一种提取操作室1及样本储存罐2000；所述提取操作室1密封设置在样本储存罐2000上端；所述提取操作室1设置有密封对接口18；所述转运对接构件7设置在所述样本储存罐2000外一侧，且所述转运对接构件7可接收转运箱701，且可带动转运箱701使其转运箱开口对接到所述密封对接口18上。
本实施例的运转结构过程如下：需要从一个样本储存罐提取生物样本，是将装有生物样本的冻存管放入到储存盒中，再将储存盒放入转运箱中，由转运箱转运，由于转运箱本身有保冷的功能的，因此在此过程中也是保障了低温环境。将转运箱移动到转动对接构件上，由转运对接构件将转运箱转运，使其转运箱开口对接到提取操作室的密封对接口上；由提取操作室对转运箱在提取操作室内进行开盖，开盖后由提取操作室对目标储存盒进行储存。密封对接口设置有密封胶条条，转运箱开口设置有与密封对接口的密封胶条可相互对接密封的转运箱开口密封胶条，两者对接时，实现密封，保证了低温环境的稳定性。
整个过程，目标储存盒无论是在转运箱内，还是开盖在提取操作室内，都始终处于低温环境。而且因设置转运对接构件，很方便的能形成多个样本储存罐对接提取，形成产业存取线，并实现全程保冷过程。
多台样本储存罐形成一存取样本产业线，每个样本储存罐上均设置有实施例1中所述的提取操作室，那怎样更好的让整个产业线直接的提取或转存或直接存取在高度低温环境中，且产业线管理，且方便提取，且可方便两台或多台样本储存罐变化对接，所以怎样将转运对接构件设置更有利于上述有益效果。本实施例提供了一种优选的转运对接构件7实施方式，所述转运对接构件7包括移动轨道702、移动小车703和对接驱动件704，所述移动轨道702设置在样本储存罐2000外一侧，所述移动小车703设置在移动轨道702上，且所述移动 小车703可沿所述移动轨道702带动转运箱移动；所述对接驱动件7可带动转运箱，使其转运箱开口与密封对接口密封对接上。这里设置对接驱动件带动转运箱使其转运箱开口与密封对接接扣密封对接，利用提取操作室对转运箱内的目标储存盒进行密封提取，保证了整个过程的冷链状态，因此不用再将转运对接构件设置的很复杂，也不用再将转运对接构件整体设置一个密封的结构环境，因为若两台或多台样本储存罐需要对接时，在其之间设置转运对接构件，可很好的实现其全称冷链的目的。
本实施例优选的进一步实施方式，如图3所示，所述移动轨道702成C型或U型或凹型。这种设置能更方便的实现样本储存罐直接的提取或存储，移动轨道成C型或U型或凹型更方便两台或多台样本储存罐对接。
本实施例优选的进一步实施方式，所述对接驱动件704包括对接驱动电机705、对接竖向轨道706及对接升降架707；所述对接驱动电机705驱动所述对接升降架707沿所述对接竖向轨道706做升降运动；
所述移动轨道702设置在所述对接竖向轨道706上端，两者成T型或倒置L型设置；且移动轨道702的一端穿过所述对接升降架707；
所述对接升降架707上端为两个非连接的自由端，且两个自由端分别设有升降承接板708；两个升降承接板708之间设置有升降支撑板709；转运箱701可放置或可设置在所述升降支撑板709上。
如图5所示，初始状态时，升降支撑板709处于方便接收转运箱的位置，当转运箱移动放置到升降支撑板上后，对接驱动电机驱动对接升降架在对接竖向轨道上做上升运动，从而带动升降支撑板做上升运动，从而将转运箱密封对接到提取操作室的密封对接口上。这里设置对接升降架上端为两个非连接的自由端，自由端的高度是高出移动轨道的，从而升降支撑板高出移动轨道。升降支撑板设置在两个非连接的自由端的升降承接板上，两个升降承接板是对升降支撑板在竖直方向上的支撑，但不限制其移动小车带动升降支撑板在移动轨道上的运动。当外部转运过来的转运箱不方便直接放在对应对接升降架的位置时，可利用移动小车将升降支撑板运动到合适位置，将转运箱放置到升降支撑板上之后，利用移动小车将载有转运箱的升降支撑板移动到两个升降承接板上，再利用对接升降架进行密封对接动作。
本实施例优选的进一步实施方式，所述升降支撑板709上设置有转运箱限 位板710，所述转运箱限位板710可对所述转运箱进行限位。这样设置升降支撑板在接收转运箱时可更精准的接收转运箱。
本实施例优选的这里提供了一种可自动充电的移动小车703实施方式，所述移动小车包括小车基座8、小车电池801及电片连接板802；
所述小车基座8下端面设置有小车滑槽803，所述小车滑槽803可滑动的设置在所述移动轨道702上；所述小车基座8下端设置有小车电池801，小车电池801与电片连接板802电连；
所述移动轨道702上且位于小车基座下方与电片连接板相对应的位置设置有电源触板804。
所述移动小车的小车基座上端面设置有小车定位柱805；所述升降支撑板709设置有与小车定位柱805相对应的定位孔。需要让移动小车单独运动时，可利用对接驱动电机带动升降支撑板709上升一段距离，使得小车定位柱与升降承接板的定位孔脱离，移动小车利用小车滑槽在移动轨道上的滑动，使得小车基座下端的小车电池电连的电片连接板与电源触板相电连搭接；电源触板本身是连接供电结构的，因此通过电源触板对小车电池进行充电。
本实施例优选的进一步实施方式，所述移动小车还包括测距传感器806、单片机807、小车电机808及小车车轮809，所述测距传感器806设置在所述小车基座8下端面上；
所述单片机分别与测距传感器及小车电机电连，单片机分别对测距传感器及小车电机进行控制；所述小车电机驱动所述小车车轮在所述移动轨道运动。测距传感器的设置可测定小车运动的位置，使得小车的运动路程更准确；所述小车电机驱动驱动小车车轮在所述移动轨道上运动，从而实现小车在移动轨道上的运动。
本实施例优选的进一步实施方式，所述移动轨道702包括第一子轨道711、第二子轨道712及移动车支撑板713；所述移动车支撑板713两侧上端面对称设置有第一子轨道和第二子轨道；小车基座下端面分别在两侧设置有两组小车滑槽，两组小车滑槽分别滑动设置在第一子轨道和第二子轨道上；
所述电源触板804设置在所述移动车支撑板上；
所述移动车支撑板上设置有车轮垫714，所述小车车轮在所述车轮垫714上运动。
本实施例优选的进一步实施方式，所述移动小车的小车基座上端面设置有小车定位柱；所述升降承接板设置有与小车定位柱相对应的定位孔。
本发明开公开了一种提取操作室1的开盖机构9，所述提取操作室1还包括开盖机构9，所述开盖机构9设置在所述密封对接口相对的位置，所述开盖机构可对密封对接口所对接的转运箱开口上转运箱盖进行开盖。
本实施例优选的进一步实施方式，所述开盖机构包括开盖固定底座901、开盖驱动件902、开盖大臂杆903、开盖小臂杆904及开盖盘905；
所述开盖固定底座901固定在所述提取操作室内，所述开盖驱动件902设置在所述开盖固定底座901上；所述开盖大臂杆903一端可转动的设置在所述开盖固定底座上，所述开盖小臂杆的一端可转动的设置在所述开盖大臂杆的另一端，所述开盖小臂杆的另一端固定设置有开盖盘905；所述开盖驱动件902对开盖小臂杆的转动进行驱动。
所述开盖盘包括开盖本体盘、开盖定位杆906及开盖电磁件907；
所述开盖本体盘固定在所述开盖小臂杆的另一端，所述开盖本体盘上设置有开盖定位杆及开盖电磁阳性件；
所述转运箱箱盖上设置有转运箱定位孔，所述开盖定位杆可插入转运箱定位孔；所述转运箱箱盖上设置有转运箱盖电磁阴性件，所述开盖电磁阳性件可与转运箱箱盖电磁阴性件彼此进行吸附。
利用开盖驱动件驱动开盖小臂杆进行驱动，所述开盖小臂杆的一端可转动的设置在所述开盖大臂杆的另一端，开盖大臂杆的一端可转动的设置在所述开盖固定底座上，因此在开盖驱动件驱动时，带动开盖盘可运动至转运箱箱盖上，利用开盖盘上设置的开盖定位杆插入到转运箱定位孔，开盖电磁阳性件对转运箱盖电磁阴性件进行吸附，从而再利用开盖大臂杆和开盖小臂杆的运动，将转运箱箱盖打开；当然需要将转运箱箱盖盖合到转运箱时，利用开盖大臂杆和开盖小臂杆的运动将转运箱箱盖盖合到转运箱时，将开盖电磁阳性件断电，从而使得开盖电磁件对转运箱箱盖进行释放，盖合。
本实施例优选的进一步实施方式，所述开盖驱动件902包括开盖驱动电机、开盖驱动导轨908及开盖驱动滑座909；
所述开盖驱动电机902驱动开盖驱动滑座909在所述开盖驱动导轨908上做升降运动，所述开盖转轴一端固定在所述开盖驱动滑座上，开盖转轴的另一 端可转动或固定设置在所述开盖小臂杆上。如图8所示，开盖驱动电机驱动开盖驱动滑座909在开盖驱动导轨上做上下运动，从而带动开盖小臂杆与开盖大臂杆直接转动，从而带动开盖大臂杆在开盖固定底座上转动，从而实现开盖盘的运动。
本实施例优选的还进一步提供了一种样本储存罐的实施方式，所述样本储存罐2000包括样本罐本体20、内置液氮罐体201、转盘202、样本储存转轴件203、样本储存电机204、提篮3000及罐盖4000；
所述样本罐本体上端面盖设有罐盖；
所述内置液氮罐体设置在所述样本罐本体内，所述内置液氮罐体上端面设置有承接转槽205；
所述样本储存电机驱动所述样本储存转轴件进行转动，所述样本储存转轴件下端可转动的设置在所述承接转槽205上；所述样本储存转轴件外围固定设置有转盘；所述提篮设在所述转盘上；需要对目标储存盒进行提取时，利用样本储存电机驱动样本储存转轴件进行转动，从而带动转盘转动，将目标储存盒所在的提篮转动到罐盖下方，方便提取。
所述样本储存转轴件包括中心转轴206和承接转轴207；所述样本储存电机对其中心转轴进去驱动，所述中心转轴内部设置充氮腔，所述中心转轴的下端与所述承接转轴同轴连接，所述承接转轴的下端可转动的设置在所述承接转槽上。充氮腔内灌有液氮，这样有提供了一层保冷结构。
本实施例优选的进一步实施方式，所述样本罐本体的罐壁内部设置有隔温层。
本实施例优选的进一步实施方式，所述提取操作室内还设置有去霜机构10及扫码识别装置101，所述去霜机构设置在靠近所述密封对接口处，所述扫码识别装置设置在靠近所述去霜机构位置。如图4所示，去霜机构10包括去霜驱动电机和去霜刷，当需要去霜时，去霜驱动电机驱动去霜刷转动，操作抓取手将储存盒抓取到去霜刷上停留，是的去霜刷对其去霜；去霜之后，操作抓取手将去霜后的储存盒抓取到扫码识别装置101进行扫码识别，将存取或提取的目标储存盒录入系统储存。
本实施例优选的进一步实施方式，所述提取操作室还设置有观察窗102和可拆卸操作门103。观察窗可方便提取或存取的过程的观察，所述开拆卸操作 门，方便对提取操作室的检修。
以上实施例的先后顺序仅为便于描述，不代表实施例的优劣。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (24)

  1. 一种提取操作室，其特征在于，包括多级Z向提取臂和X向推送系统，所述多级Z向提取臂为在Z轴方向上可实现多距离路段的移动臂，所述多级Z向提取臂上设置有提取件，且所述多级Z向提取臂可带动所述提取件实现Z轴方向上的运动；
    所述X向推动系统设置在与提取件相对应的位置，且X向推动系统可将提取件提取的样本储存罐的罐盖或储存盒推送到设定位置；
    所述多级Z向提取臂包括第一Z向提取臂、第二Z向提取臂及承接横向驱动臂；
    所述承接横向驱动臂设置在所述第一Z向提取臂上，所述第一Z向提取臂可带动承接横向驱动臂在Z轴方向上运动，所述第二Z向提取臂设置在所述承接横向驱动臂上；所述承接横向驱动臂可带动第二Z向提取臂在X方向上横向运动；所述提取件设置在所述第二Z向提取臂上，所述第二Z向提取臂可带动所述提取件在Z轴方向上做上下运动；
    所述X向推送系统12包括X向推送构件和罐盖存放区13；所述X向推送构件与所述罐盖存放区相对设置；X向推送构件可将提取件提取的罐盖或储存盒推送到罐盖存放区或设定位置；
    所述X向推送构件和罐盖存放区分别设置在所述多级Z向提取臂在X轴方向上的两侧；
    所述X向推送构件包括推送基座架、推送驱动电机、X轴运动推板及推送导杆；
    所述推送基座架固定在所述多级Z向提取臂一侧的下方，所述推送驱动电机及推送导杆分别固定在所述推送基座架上，且所述X轴运动推板在所述推送驱动电机的驱动下沿所述推送导杆运动；所述X轴运动推板可从多级Z向提取臂的一侧运动延伸到另一侧，且靠近罐盖存放区；
    所述罐盖存放区靠近X轴运动推板的一侧开设有接收存放口；
    还包括Y向接收系统；
    所述Y向接收系统可接收储存盒，且将储存盒运送到X向推送系统相对应的位置；
    所述Y向接收系统包括Y向轨道、Y向移动托盘及存盒接收通道；
    所述Y向轨道沿Y轴方向延伸而成，且设置在所述推送基座架下方；
    所述存盒接收通道可滑动的设置在所述Y向轨道上，且所述存盒接收通道在X轴方向上具有一定长度；所述Y向移动托盘在X轴方向上可滑动的设置在存盒接收通道上；
    所述Y向接收系统还包括存盒推送构件，所述存盒推送构件设置在与存盒接收通道相对应的位置，可对存盒接收通道上的Y向移动托盘进行推送；
    所述存盒推送构件包括存盒推送驱动电机及存盒推送板件，所述存盒推送驱动电机设置在所述推送基座架下端面上，所述存盒推送板件可滑动的设置在所述推送基座架下端面上，存盒推送驱动电机驱动存盒推送板件在X轴方向做伸缩运动；
    所述存盒推送板件包括存盒推送第一子板、存盒推送第二子板及存盒推送头，所述存盒推送第一子板上端面可滑动的设置在所述推送基座架下端面上，所述存盒推送第一子板的一端与存盒推送第二子板的一端成直角固定，存盒推送第二子板的另一端与存盒推送头成直角相固定；所述存盒推送板件成反向倒置的“Z”形；
    还包括储存盒回送构件；所述储存盒回送构件设置在所述存盒推送板件相对的位置；所述储存盒回送构件包括回送推板，所述回送推板可在X轴上做伸缩运动；
    所述储存盒回送构件包括回送构件基板及回送构件驱动电机；
    所述回送构件基板设置在所述罐盖存放壳体下方且与所述存盒推送构件相对的位置，所述回送推板在回送构件驱动电机的驱动下可滑动的设置在所述回送构件基板上，且所述回送推板靠近所述存盒推送头的一侧设置有回送推头。
  2. 根据权利要求1所述的提取操作室，其特征在于，所述第一Z向提取臂包括Z向A驱动子电缸、Z向B驱动子电缸、Z向A轨道及Z向B轨道；所述承接横向驱动臂包括C驱动轨道及C驱动电缸；
    所述Z向A轨道及Z向B轨道分别Z轴方向竖直对称固定在提取操作室内，所述C驱动轨道的两端分别可滑动的设置在所述Z向A轨道及Z向B轨道上，所述Z向A驱动子电缸及Z向B驱动子电缸分别对C驱动轨道的两端进行上下运动的驱动；
    所述第二Z向提取臂可滑动的设置在所述C驱动轨道上，且所述C驱动电 缸对其进行驱动；所述第二Z向提取臂包括Z向D驱动电缸，所述Z向D驱动电缸上设置有提升件，且驱动提升件上下运动。
  3. 根据权利要求2所述的提取操作室，其特征在于，
    所述Y向接收系统还包括Y向驱动电机、Y向转轴丝杠及存盒接收通道承接螺母；所述Y向驱动电机驱动对所述Y向转轴丝杠的一端驱动其转动，所述Y向转轴丝杠的另一端可转动的设置在所述Y向轨道远离推送基座架的一端；
    所述存盒接收通道承接螺母固定在所述存盒接收通道的一端上，且所述Y向转轴丝杠与所述存盒接收通道承接螺母啮合；
    所述Y向驱动电机驱动设置在所述存盒推送第一子板与存盒推送第二子板连接处的下方，所述存盒接收通道可移动至与存盒推送头相对应的位置。
  4. 根据权利要求3所述的提取操作室，其特征在于，所述Y向接收系统还包括低温保障件，所述低温保障件设置在所述存盒接收通道下方或固定在所述存盒接收通道的下端面上；
    所述低温保障件内部具有容纳腔，且低温保障件上端面开设有多个与容纳腔相贯通的通氮孔；所述低温保障件的容纳腔与供氮管道相连通。
  5. 根据权利要求4所述的提取操作室，其特征在于，所述低温保障件成盒状或圆柱状或半球状。
  6. 根据权利要求4所述的提取操作室，其特征在于，所述罐盖存放区包括罐盖存放壳体及罐盖存放驱动构件，所述罐盖存放壳体靠近所述X向推送构件一侧开设有接收存放口；且所述罐盖存放壳体靠近所述提取件的端面开设有罐盖提取口；
    所述罐盖存放驱动构件可驱动所述罐盖存放壳体在X轴方向上运动。
  7. 根据权利要求5或6所述的提取操作室，其特征在于，所述罐盖存放驱动构件包括存放驱动基座、存放驱动轨道及存放驱动衔接板架；
    所述存放驱动基座固定在提取操作室内，且位于多级Z向提取臂另一侧的下方，所述存放驱动轨道设置在所述存放驱动基座上；所述存放驱动衔接板架一端可滑动的设置在所述存放驱动轨道上，另一端固定在罐盖存放壳体上。
  8. 根据权利要求7所述的提取操作室，其特征在于，所述存放驱动基座设置在所述罐盖存放壳体上方，所述存放驱动基座上端面两侧分别对称设置有第一存放子驱动轨道和第二存放子驱动轨道；
    所述存放驱动基座上端面位于第一存放子驱动轨道和第二存放子驱动轨道外的两侧分别开设有两列X轴方向上的驱动走向通道；
    所述存放驱动衔接板架包括存放驱动滑动板、存放驱动第一夹板及存放驱动第二夹板；所述存放驱动滑动板可滑动的设置在所述第一存放子驱动轨道和第二存放子驱动轨道上；
    所述存放驱动第一夹板的上端垂直固定在所述存放驱动滑动板的一侧，且所述存放驱动第一夹板的下端穿过一侧的所述驱动走向通道固定在所述罐盖存放壳体上；
    所述存放驱动第二夹板的上端垂直固定在所述存放驱动滑动板的另一侧，且所述存放驱动第二夹板的下端穿过另一侧的所述驱动走向通道固定在所述罐盖存放壳体上。
  9. 根据权利要求1、2、3、4、5、6或8所述的提取操作室，其特征在于，所述提取件上设置有阳极电磁件；所述罐盖上端面设置有阴性磁件，提篮上端面上设置有阴性磁件；
  10. 根据权利要求1、2、3、4、5、6或8所述的提取操作室，其特征在于，所述多级Z向提取臂还包括X进级臂，所述X进级臂设置在所述第二Z向提取臂上，所述第二Z向提取臂可带动所述X进级臂在Z轴升降运动；所述提取件设置在所述X进级臂上，所述X进级臂可带动提取件在X轴运动；
    所述提取件下端设置有向两侧延伸的提取把，所述罐盖上端面上设置有承接槽，所述承接槽可在X轴方向上接收提取把，所述提取把在Z轴方向上对承接槽进行限制提取。
  11. 一种智能化样本存取系统，其特征在于，包括转运对接构件、上述权利要求1、2、3、4、5、6或8中所述的提取操作室及样本储存罐；
    所述提取操作室密封设置在样本储存罐上端；所述提取操作室设置有密封对接口；
    所述转运对接构件设置在所述样本储存罐外一侧，且所述转运对接构件可接收转运箱，且可带动转运箱使其转运箱开口对接到所述密封对接口上；
    所述转运对接构件包括移动轨道、移动小车和对接驱动件，所述移动轨道设置在样本储存罐外一侧，所述移动小车设置在移动轨道上，且所述移动小车可沿所述移动轨道带动转运箱移动；所述对接驱动件可带动转运箱，使其转运 箱开口与密封对接口密封对接上；
    所述移动轨道成C型或U型或凹型；
    所述对接驱动件包括对接驱动电机、对接竖向轨道及对接升降架；所述对接驱动电机驱动所述对接升降架沿所述对接竖向轨道做升降运动；
    所述移动轨道设置在所述对接竖向轨道上端，两者成T型或倒置L型设置；且移动轨道的一端穿过所述对接升降架；
    所述对接升降架上端为两个非连接的自由端，且两个自由端分别设有升降承接板；两个升降承接板之间设置有升降支撑板；转运箱可放置或可设置在所述升降支撑板上。
  12. 根据权利要求11所述的智能化样本存取系统，其特征在于，所述升降支撑板上设置有转运箱限位板，所述转运箱限位板可对所述转运箱进行限位。
  13. 根据权利要求12所述的智能化样本存取系统，其特征在于，所述移动小车包括小车基座、小车电池及电片连接板；
    所述小车基座下端面设置有小车滑槽，所述小车滑槽可滑动的设置在所述移动轨道上；所述小车基座下端设置有小车电池，小车电池与电片连接板电连；
    所述移动轨道上且位于小车基座下方与电片连接板相对应的位置设置有电源触板。
  14. 根据权利要求13所述的智能化样本存取系统，其特征在于，所述移动小车还包括测距传感器、单片机、小车电机及小车车轮，所述测距传感器设置在所述小车基座下端面上；
    所述单片机分别与测距传感器及小车电机电连；所述小车电机驱动所述小车车轮在所述移动轨道运动。
  15. 根据权利要求14所述的智能化样本存取系统，其特征在于，所述移动轨道包括第一子轨道、第二子轨道及移动车支撑板；所述移动车支撑板两侧上端面对称设置有第一子轨道和第二子轨道；小车基座下端面分别在两侧设置有两组小车滑槽，两组小车滑槽分别滑动设置在第一子轨道和第二子轨道上；
    所述电源触板设置在所述移动车支撑板上；
    所述移动车支撑板上设置有车轮垫，所述小车车轮在所述车轮垫上运动。
  16. 根据权利要求15所述的智能化样本存取系统，其特征在于，所述移动小车的小车基座上端面设置有小车定位柱；所述升降承接板设置有与小车定位 柱相对应的定位孔。
  17. 根据权利要求11所述的智能化样本存取系统，其特征在于，所述提取操作室还包括开盖机构，所述开盖机构设置在所述密封对接口相对的位置，所述开盖机构可对密封对接口所对接的转运箱开口上转运箱盖进行开盖。
  18. 根据权利要求17所述的智能化样本存取系统，其特征在于，所述开盖机构包括开盖固定底座、开盖驱动件、开盖大臂杆、开盖小臂杆及开盖盘；
    所述开盖固定底座固定在所述提取操作室内，所述开盖驱动件设置在所述开盖固定底座上；所述开盖大臂杆一端可转动的设置在所述开盖固定底座上，所述开盖小臂杆的一端可转动的设置在所述开盖大臂杆的另一端，所述开盖小臂杆的另一端固定设置有开盖盘；所述开盖驱动件对开盖小臂杆的转动进行驱动。
  19. 根据权利要求18所述的智能化样本存取系统，其特征在于，所述开盖盘包括开盖本体盘、开盖定位杆及开盖电磁件；
    所述开盖本体盘固定在所述开盖小臂杆的另一端，所述开盖本体盘上设置有开盖定位杆及开盖电磁阳性件；
    所述转运箱箱盖上设置有转运箱定位孔，所述开盖定位杆可插入转运箱定位孔；所述转运箱箱盖上设置有转运箱箱盖电磁阴性件，所述开盖电磁阳性件可与转运箱盖电磁阴性件彼此进行吸附。
  20. 根据权利要求19所述的智能化样本存取系统，其特征在于，所述开盖驱动件包括开盖驱动电机、开盖驱动导轨及开盖驱动滑座；
    所述开盖驱动电机驱动开盖驱动滑座在所述开盖驱动导轨上做升降运动，所述开盖驱动滑座向外延伸设有开盖转轴，所述开盖转轴一端固定在所述开盖驱动滑座上，开盖转轴的另一端可转动或固定设置在所述开盖小臂杆上。
  21. 根据权利要求12-20任意一项所述的智能化样本存取系统，其特征在于，所述样本储存罐包括样本罐本体、内置液氮罐体、转盘、样本储存转轴件、样本储存电机、提篮及罐盖；
    所述样本罐本体上端面盖设有罐盖；
    所述内置液氮罐体设置在所述样本罐本体内，所述内置液氮罐体上端面设置有承接转槽；
    所述样本储存电机驱动所述样本储存转轴件进行转动，所述样本储存转轴 件下端可转动的设置在所述承接转槽上；所述样本储存转轴件外围固定设置有转盘；所述提篮设在所述转盘上；
    所述样本储存转轴件包括中心转轴和承接转轴；所述样本储存电机对其中心转轴进去驱动，所述中心转轴内部设置充氮腔，所述中心转轴的下端与所述承接转轴同轴连接，所述承接转轴的下端可转动的设置在所述承接转槽上。
  22. 根据权利要求21所述的智能化样本存取系统，其特征在于，所述样本罐本体的罐壁内部设置有隔温层。
  23. 根据权利要求22所述的智能化样本存取系统，其特征在于，所述提取操作室内还设置有去霜机构及扫码识别装置，所述去霜机构设置在靠近所述密封对接口处，所述扫码识别装置设置在靠近所述去霜机构位置。
  24. 根据权利要求23所述的智能化样本存取系统，其特征在于，所述提取操作室还设置有观察窗和可拆卸操作门。
PCT/CN2023/085925 2022-05-10 2023-04-03 一种提取操作室及智能化样本存取系统 WO2023216768A1 (zh)

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