A biological sample bank

Abstract

The present invention discloses a biological sample library suitable for storing a large number of biological samples, comprising a library body and a partition A arranged in the library body; the internal space of the library body is divided by the partition A into a tube picking area and a storage area which are arranged in parallel along a first direction; the library body is provided with an access port A connecting the tube picking area and the outside, and a closed door A is provided at the access port A to seal the access port; the partition A is provided with an access port B connecting the tube picking area and the storage area, and a closed door B is provided at the access port B to seal the access port; a sample rack storage and transportation circulation system is provided in the storage area, and a tube picking device is provided in the tube picking area.

Description

Technical Field

[0001] The present invention belongs to the technical field, and in particular relates to a biological sample library. Background Art

[0002] Long-term storage of biological samples usually uses the lowest possible temperature to reduce biochemical reactions in the sample and improve the stability of various components in the sample. The lower the temperature, the longer the sample can be stored. Usually, frozen cells are placed in test tubes, and the test tubes are placed on storage racks through sample boxes. The storage racks are placed in a refrigerated environment to achieve long-term stable storage of samples.

[0003] At present, most of them are stored at low temperature through sample access equipment, and the number of stored samples is relatively small, which is difficult to meet the centralized storage needs of a large number of biological samples in hospitals or research institutes. Therefore, it is necessary to develop a sample library suitable for storing a large number of biological samples. Summary of the invention

[0004] The present invention aims to provide a biological sample library to solve the problem of storing a large number of biological samples.

[0005] To achieve the purpose of the present invention, the technical solution adopted is:

[0006] A biological sample library, comprising a library body and a partition A arranged in the library body; the internal space of the library body is divided by the partition A into a tube selection area and a storage area arranged in parallel along a first direction; the library body is provided with an access port A connecting the tube selection area and the outside, and a closed door A is provided at the access port A to close the access port; the partition A is provided with an access port B connecting the tube selection area and the storage area, and a closed door B is provided at the access port B to close the access port;

[0007] The storage area is provided with a sample rack storage and conveying circulation system; the sample rack storage and conveying circulation system comprises:

[0008] A sample rack, wherein the sample racks are multiple and arranged in at least two rows along the second direction; each of the sample racks is provided with multiple sample boxes; the two sample racks at the outermost ends of each row of sample racks are end sample racks; the second direction is perpendicular to the first direction;

[0009] The sample rack running tracks are at least two sets parallel to each other, and each set of sample rack running tracks is used to carry a row of sample racks;

[0010] A pushing mechanism is correspondingly arranged outside each row of sample racks to push the entire row of sample racks to move along the sample rack walking track;

[0011] There are at least two transverse movement modules, which are respectively arranged at both ends of all sample rack running tracks to drive the end sample rack to move back and forth between the ends of any two groups of sample rack running tracks;

[0012] A tube picking device is provided in the tube picking area; the tube picking device comprises a platform having a tube placing area and a tube taking area, a chuck for clamping or loosening the test tube, and a manipulator A for driving the chuck to reciprocate between the tube placing area and the tube taking area;

[0013] The tube picking area is also provided with a robot B for transferring the sample box between the end sample rack on the transverse movement module close to the access port B, the tube picking area and the access port A.

[0014] As a further optional solution of the biological sample library, a closed door C is provided at one end of the access port A away from the closed door A; and a pre-cooling chamber for pre-cooling biological samples is provided between the closed door A and the closed door C.

[0015] As a further optional solution for the biological sample library, the chuck includes two sliding parts A arranged to slide relative to each other, two clamping jaws A arranged to slide relative to each other, a driving mechanism A for driving the two sliding parts A to slide relative to each other, and an elastic element A for driving the two clamping jaws A to close; V-shaped grooves are provided on the opposing surfaces of the two clamping jaws A, and the openings of the two V-shaped grooves are opposite to each other, and the two clamping jaws A correspond one-to-one to the two sliding parts A; a limiting structure is provided between each clamping jaw A and its corresponding sliding part A.

[0016] As a further optional solution of the biological sample library, the tube picking device also includes a push rod A arranged below the tube sample box; the push rod A is connected to a lifting mechanism that drives it to move vertically to lift the test tube in the tube sample box.

[0017] As a further optional solution for the biological sample library, the chuck also includes a push rod B arranged above the clamping jaw A, a sliding member B slidably connected to the push rod B, a driving mechanism B driving the sliding member B to slide up and down, and an elastic element B arranged between the sliding member B and the push rod B and driving the push rod B to slide downward; the contact center point of the push rod B and the test tube and the contact center point of the push rod A and the test tube are on a vertical line.

[0018] As a further optional solution for the biological sample library, a sample rack hook structure is provided at the upper end of the sample rack, and the sample rack hook structure includes a hook with a slot and a pin matched with the slot, the hook is rotatably arranged on the sample rack, the pin is fixed to the sample rack, and the slot of the pin and the hook are in a state of divergence; in every two adjacent sample racks in the entire row of sample racks, the hook on one sample rack is hooked to the pin on the other sample rack.

[0019] As a further optional solution of the biological sample library, it also includes a frame body arranged outside all sample racks, and a disengagement driving structure for disengaging the hook from the pin is arranged on the frame body corresponding to the end sample rack.

[0020] As a further optional solution for the biological sample library, the transverse movement module includes a fixed transverse movement base, a transverse movement frame on the transverse movement base, and a transverse movement drive mechanism for driving the transverse movement frame to reciprocate on the transverse movement base; the transverse movement frame corresponds to the end of the sample rack walking track, and the reciprocating movement direction of the transverse movement frame is perpendicular to the length direction of the sample rack walking track.

[0021] As a further optional solution of the biological sample library, the transverse moving frame is provided with a sample rack limiting track corresponding to the sample rack running track.

[0022] As a further optional solution for the biological sample library, multiple sample racks are arranged in an even number of columns, and the sample rack running tracks are an even number of arrays; a transverse movement module is respectively provided at both ends of each two adjacent groups of sample rack running tracks to drive the end sample racks to reciprocate between the ends of the two adjacent groups of sample rack running tracks.

[0023] The beneficial effects of the present invention are:

[0024] The tube picking device in the tube picking area can put the test tubes in one sample box into another sample box under low temperature environment, so as to avoid the sample box with incomplete test tubes being exposed to normal temperature environment and then put back into the sample rack, which may reduce the activity of biological samples in the test tubes, and also avoid the waste of storage space due to too many biological samples in the sample rack that are not full of test tubes; the sample racks are stored in an array and arranged in at least two columns, and the pushing mechanism pushes the sample racks in each column to move along the sample rack walking track, and the sample rack in the m column where the target sample rack is located is pushed by the pushing mechanism, so that the end sample rack in the m column is moved out of the sample rack The end sample rack is moved to the end of the n-column sample rack by the transverse movement module, and the n-column sample rack is pushed by the pushing mechanism to move the n-column sample rack as a whole, so that the end sample rack at the other end of the n-column sample rack is moved out of the sample rack array, and then the end sample rack at the other end of the n-column sample rack is moved to the end of the m-column sample rack by the transverse movement module, and the circular movement and transportation are performed in this way until the target sample rack is moved out, so as to access the samples on the target sample rack; through the setting of the tube picking device and the sample rack storage and transportation circulation system, the centralized storage of a large number of biological samples is realized.

[0025] Other beneficial effects of the present invention will be described in detail in the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. It should be understood that the accompanying drawings in the following description are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0027] Figure 1 is a schematic diagram of the structure of the biological sample library of the present invention (the upper library plate is omitted);

[0028] Figure 2 yes Figure 1 The schematic diagram of the structure of the sample rack storage and transportation circulation system in the biological sample library shown;

[0029] Figure 3 yes Figure 1 The schematic diagram of the structure of the tube picking device in the biological sample library shown;

[0030] Figure 4 yes Figure 1 The schematic diagram of the structure of the library body in the biological sample library shown (the right library plate is omitted);

[0031] Figure 5 yes Figure 1 A schematic diagram of the structure of the closed door B in the biological sample library shown;

[0032] Figure 6 yes Figure 1 The schematic diagram of the structure of the front library plate in the biospecimen library shown;

[0033] Figure 7 yes Figure 1 The schematic diagram of the structure of the chuck in the biological sample library shown (the ejector rod B is omitted);

[0034] Figure 8 yes Figure 1 The schematic diagram of the structure of the lifting mechanism in the biological sample library shown;

[0035] Fig. 9 yes Figure 1 A schematic diagram of a chuck in a biological sample library shown (sliding member A and clamping jaw A are omitted);

[0036] Fig.10 yes Figure 1 A schematic diagram of a sample rack hook structure in a biological sample library is shown;

[0037] Fig.11 yes Figure 1 A schematic diagram of a sample rack in a biobank is shown;

[0038] Fig.12 yes Figure 1 A schematic diagram of a lateral movement module in a biological sample library is shown;

[0039] Fig.13 yes Figure 1 A schematic diagram of a sample rack limiting track in a biological sample library is shown;

[0040] Fig.14 yes Figure 1 A schematic diagram of a robot C in a biobank is shown;

[0041] Fig.15 yes Figure 1 A schematic diagram of a clamping mechanism in a biological sample library is shown;

[0042] Fig.16 yes Figure 1 Schematic diagram of the picking and placing mechanism in the biological sample library shown. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to another component, or there may be a central component at the same time. Unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those generally understood by technicians in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0045] like Figure 1 As shown, the biological sample library of this embodiment includes a library body 1 and a partition A11 arranged in the library body 1; the internal space of the library body is divided by the partition A11 into a tube-picking area 14 and a storage area 13 arranged in parallel along a first direction, i.e., a Y direction; the library body 1 is provided with an access port A161 connecting the tube-picking area 14 and the outside, and a closed door A8 is provided at the access port A161 to close it; the partition A11 is provided with an access port B111 connecting the tube-picking area 14 and the storage area 13, and a closed door B is provided at the access port B111 to close it; the outside refers to the external space relative to the internal space of the library body 1;

[0046] The storage area 13 is provided with a sample rack storage and transport circulation system 2; Figure 2 As shown, the sample rack storage and transport circulation system 2 includes:

[0047] There are multiple sample racks 210, and the sample racks 210 are arranged in at least two rows along the second direction, i.e., the X direction; each sample rack 210 is provided with multiple sample boxes; the two sample racks 210 at the outermost ends of each row of sample racks 210 are end sample racks 211;

[0048] The sample rack running tracks 220 are at least two sets parallel to each other, and each set of sample rack running tracks 220 is used to carry a row of sample racks 210;

[0049] The pushing mechanism 230 is correspondingly disposed outside each row of sample racks 210 to push the entire row of sample racks 210 to move along the sample rack walking track 220;

[0050] There are at least two transverse movement modules 240 , which are respectively disposed at both ends of all sample rack running tracks 220 to drive the end sample racks 211 to reciprocate between the ends of any two groups of sample rack running tracks 220 .

[0051] A pipe picking device 3 is provided in the pipe picking area 14; Figure 3 As shown, the tube picking device 3 includes a platform 31 with a tube taking area and a tube placing area, a chuck 32 for clamping or releasing the test tube, and a manipulator A33 for driving the chuck to reciprocate between the tube taking area and the tube placing area; the tube taking area is used to place a sample box 6 for taking out the test tube, and the tube placing area is used to place a sample box 6 for putting in the test tube; Figure 3 As shown, a manipulator B4 is also provided in the tube picking area 14 for transferring the sample box between the end sample rack 211 on the transverse movement module 240 near the access port B111, the tube picking area 14 and the access port A. In this embodiment, the tube picking device 3 also includes a cache device 36 disposed below the platform 31. The cache device 36 can be configured as a storage rack and a motor that drives the storage rack to rotate around the Z axis. The motor can be directly connected to the storage rack or connected to the storage rack through a transmission mechanism such as a gear transmission. The storage rack can be configured as a plurality of vertically arranged unit racks 361. The plurality of unit racks 361 are distributed along the circumference of the storage rack. Each unit rack 361 is sequentially configured from top to bottom with a plurality of storage cavities 3611 for storing sample boxes 6. The empty sample box 6 can be placed in the storage chamber 3611 in advance, so as to avoid the need to manually place the empty box every time a sample is taken; when it is necessary to take sample tubes from multiple sample boxes 6, other sample boxes 6 that need to be taken out can be placed in the storage chamber 3611 in advance for cache when picking the tubes; so as to avoid the robot B4 moving a long distance every time the tube is taken, thereby improving efficiency.

[0052] When storing biological samples, the test tubes containing the biological samples to be stored are placed one by one into a sample box (hereinafter referred to as the target sample box A), and the target sample box A is placed at the access port A161. If there is no sample box that is not full of test tubes in the storage area 13 or the target sample box A is full of test tubes, the robot B4 directly transfers the target sample box A to the end sample rack 211 on the transverse movement module 240 close to the access port B111; if there is a sample box that is not full of test tubes (hereinafter referred to as the target sample box B) in the storage area 13 and the target sample box A is not full of test tubes, the sample box where the target sample box B is located is removed from the storage area 13. The rack is transferred to the transverse movement module 240 near the access port B111, and the robot B4 can directly transfer the target sample box A and the target sample box B to the tube taking area and the tube placing area respectively; or a transfer area and a robot C34 for transferring sample boxes between the transfer area, the tube taking area and the tube placing area can be set on the platform 31, and the robot B4 transfers the target sample box A and the target sample box B to the transfer area, and then the robot C34 transfers the target sample box A to the tube placing area, and transfers the target sample box B to the tube placing area, and then the robot A33 transfers the chuck 32 to the top of the target sample box A, and the chuck 32 clamps Take the test tube in the target sample box A, and the robot A33 then moves the clamp 32 to the top of the target sample box B, and the clamp 32 is released to realize the taking and placing of the test tube. It can be to clamp one test tube at a time; it can also be to clamp multiple or all test tubes at a time; if all the test tubes in the target sample box A are transferred to the target sample box B, the robot B4 or the robot C34 and the robot B4 will cooperate to transfer the target sample box B to the end sample rack 211 on the transverse movement module 240 near the access port B111, and transfer the target sample box A to the access port A161, or set a buffer in the tube picking area 14 The target sample box A is transferred to the buffer device; if the test tubes in the target sample box A are not all transferred to the target sample box B, and the target sample box B is already full of test tubes, the target sample box B is transferred to the end sample rack 211 on the transverse moving module 240 near the access port B111, and then another sample box that is not full of test tubes is taken out from the sample rack 210, or the sample box that is not full of test tubes is first placed in the buffer device. If there is no sample box that is not full of test tubes in the sample rack 20, the target sample box A is directly transferred to the end sample rack 211 on the transverse moving module 240 near the access port B111. When taking out the biological sample, an empty sample box is placed in the tube taking area, and a sample box is taken out from the sample rack 210 and placed in the tube placing area, and the above-mentioned test tube taking and placing operation is repeated, and then the sample box in the tube taking area is transferred to the access port A161.

[0053] The specific process of transferring the sample rack where the target sample box B is located from the storage area 13 to the transverse movement module 240 near the access port B111 is as follows: suppose the sample rack 210 where the target sample box B is located is the target sample rack, and assume that the target sample rack is arranged in the middle of the m-column sample rack, then the pushing mechanism 230 pushes the m-column sample rack to move as a whole, so that the end sample rack 211 at the head end of the m-column is moved out of the sample rack array; the transverse movement module 240 moves the end sample rack 211 to the head end of the n-column sample rack, and the pushing mechanism 230 pushes the end sample rack 211 to move the n-column sample rack as a whole, so that the end sample rack 211 at the tail end of the n-column sample rack is moved out of the sample rack array; then the end sample rack 211 at the tail end of the n-column sample rack is moved to the tail end of the m-column sample rack, and is pushed toward the head end of the m-column sample rack, so that the end sample rack 211 at the head end of the m-column sample rack is moved out of the sample rack array, and the above content is repeated, and the cyclic movement and transportation are carried out until the target sample rack is moved out. The m-row and n-row sample racks can be two adjacent sample racks or non-adjacent ones. When they are adjacent, the operation is convenient and relatively time-saving.

[0054] All drawings are oriented based on Figure 1 The Cartesian coordinate system is such that the positive direction of the X axis is right, the negative direction of the X axis is left, the positive direction of the Y axis is forward, the negative direction of the Y axis is backward, the positive direction of the Z axis is upward, and the negative direction of the Z axis is downward. Figure 4 As shown, the storage body 1 in this embodiment is formed into a cube shape by an upper storage board, a lower storage board, a left storage board, a right storage board, a front storage board 16 and a rear storage board 19; a storage and access port A161 is provided on the front storage board 16 to store biological samples from the outside and to take out biological samples from the inside of the storage body 1. A partition A11 is provided between the front storage board 16 and the rear storage board 19, and a storage and access port B111 is provided on the partition A11 to connect the tube selection area 12 and the storage area 13. The closed door 9 is provided on the side of the partition A11 facing the front storage board 16. A partition B17 is provided between the partition A11 and the rear storage plate 19, the storage area 13 is provided between the partition A11 and the partition B17, and the maintenance area 18 is provided between the partition B17 and the rear storage plate 19; the rear storage plate 19 is provided with a maintenance port and a maintenance door 191 for closing the maintenance port, and multiple maintenance ports and maintenance doors 19 for closing the maintenance ports may also be provided on the front storage plate 16; the electric cylinders or motors and other driving components in the driving mechanisms required by the storage area 13 may be installed in the maintenance area 18, so that personnel can enter the maintenance area 18 through the maintenance door 191 to maintain and repair these driving components. The space configuration is reasonable, which is convenient for maintenance and repair, and minimizes the impact on the environment in the storage area 13.

[0055] like Figure 6As shown, a closed door C5 is provided at one end of the access port A161 away from the closed door A8; between the closed door A8 and the closed door C5 is a precooling chamber for precooling biological samples, and a sample box placement table 7 for placing the sample box 6 is provided in the precooling chamber. In this embodiment, the sample placement table 7 includes a plurality of placement plates 72 arranged along the Z-axis direction; two opposite limiting bars 71 are fixed on each placement plate 72, and the area between the two limiting bars 71 is for placing the sample box 6. Both ends of the opposite surfaces of the two limiting bars 71 have guiding inclined surfaces, which play a guiding role in taking and placing, and facilitate the placement and removal of the sample box 6. Since the temperature of the biological samples placed from the outside is much higher than the temperature of the biological samples inside the storage body 1, if the biological samples from the outside are directly placed in the tube picking area or storage area inside the storage body 1, the activity of the biological samples inside the storage body 1 may be reduced. Therefore, a precooling chamber is provided to precool biological samples entering from the outside. Specifically, after the closed door A8 is opened, a sample box 6 containing biological samples from the outside is placed on the sample box placement table 7 in the precooling chamber, and the closed door A8 is closed; after precooling, the closed door C5 is opened, and the manipulator B4 takes the sample box 6 out of the precooling chamber for subsequent operations such as tube selection and storage, and the closed door C5 is closed. In this embodiment, the closed door A8 is arranged on the outside of the access port A161, and the closed door C5 is arranged on the inside of the access port A161.

[0056] The closed door A8, closed door B9 and closed door C5 can adopt door structures such as swing doors, lifting doors, etc. in other prior arts to realize opening and closing. Figure 5 As shown, the closed door B9 includes a rocker bar B91, a rocker bar driving mechanism B for driving the rocker bar B91 to rotate around an axis parallel to the Z axis, a door panel slider B95 sliding along the X axis, a door panel connecting rod B93 hinged at both ends to the door panel slider B95 and the rocker bar B91, and a door panel B92 fixedly connected to the door panel connecting rod B93; in this embodiment, two rocker bars B91, rocker bar driving mechanism B, door panel slider B95 and door panel connecting rod B93 are provided. The rocker bar driving mechanism B can be implemented by existing technologies such as motors. In this embodiment, the rocker bar driving mechanism B includes a door panel driving motor B94 fixed on the partition A11, a door panel gear C fixed on the output end of the door panel driving motor B94, and a door panel gear D meshing with the door panel gear C; the door panel gear D is rotatably supported on the partition A11, the door panel gear D is fixedly connected to the rocker bar B91, and the center axis of the door panel gear D coincides with the rotation axis of the rocker bar B91. Figure 6As shown, the closed door A8 includes a door body and a door driving mechanism that drives the door body to slide along the X-axis direction; the door driving mechanism can be implemented by other existing technologies such as cylinders, single-axis robots, etc.; in this embodiment, the door driving mechanism includes a door rack 82 fixedly connected to the door body, a linear guide rail connected between the door body and the front warehouse plate 16, a door gear (not shown in the figure) meshing with the door rack 82, and a door driving motor 83 fixedly connected to the door gear at the output end; the door driving motor 83 is fixed on the front warehouse plate 16, and the door driving motor 83 drives the door gear to rotate, and the door gear drives the door rack 82 to slide along the X-axis direction to realize the sliding of the door body. The door body in this embodiment includes a door body slide plate 85 respectively connected to the door body rack 82 and the linear guide rail, a plurality of door body guide columns inserted on the door body slide plate 85 along the Y-axis direction, a door panel A81 respectively fixedly connected to the same end of the plurality of door body guide columns, a door panel drive motor A84 fixed on the door body slide plate 85, and a screw fixed on the door panel drive motor A84 and arranged along the Y-axis direction; a threaded hole matching the screw thread is provided on the door panel A81; the door panel drive motor A84 drives the screw to rotate to realize the sliding of the door panel A81 along the Y-axis direction, and a sealing member is fixed on the side of the door panel A81 facing the access port A161 to close the access port A161. The closed door C5 includes a swing rod A52, a swing rod driving mechanism A driving the swing rod A52 to rotate around an axis parallel to the X axis, a door panel slider A57 sliding along the Z axis, a door panel connecting rod A55 hinged at both ends to the door panel slider A57 and the swing rod A52, and a door panel A56 fixedly connected to the door panel connecting rod A55; in this embodiment, two swing rods A52, swing rod driving mechanism A, door panel slider A57 and door panel connecting rod A55 are provided. The swing rod driving mechanism A can be realized by using existing technologies such as motors. In this embodiment, the swing rod driving mechanism A includes a door panel driving motor A51 fixed on the front warehouse plate 16, a door panel gear A fixed at the output end of the door panel driving motor A51, and a door panel gear B meshing with the door panel gear A; the door panel gear B is rotatably supported on the front warehouse plate 16, the door panel gear B is fixedly connected to the swing rod A52, and the central axis of the door panel gear B coincides with the rotation axis of the swing rod A52.

[0057] The chuck 32 can be realized by using an existing vacuum suction head or a clamping claw cylinder, such as Figure 7As shown, the chuck 32 in this embodiment includes two sliding members A322 that are arranged to slide relative to each other, two clamping jaws A323 that are arranged to slide relative to each other, a driving mechanism A325 that drives the two sliding members A322 to slide relative to each other, and an elastic element A that drives the two clamping jaws A323 to close; V-shaped grooves 3231 are provided on the opposite surfaces of the two clamping jaws A323, and the openings of the two V-shaped grooves 3231 are opposite to each other, and the two clamping jaws A323 correspond one by one to the two sliding members A322; a limiting structure is provided between each clamping jaw A322 and its corresponding sliding member A322. The driving mechanism A325 can be implemented by a clamping cylinder in the prior art. In this embodiment, the driving mechanism A325 includes a base 321, two pneumatic motors A3251 fixed on the base 321, two screws A3253 respectively fixed on the output ends of the two pneumatic motors A3251, and two nuts 3252 respectively threadedly matched with the two screws A3253; the two nuts 3252 are respectively fixedly connected to the two sliding members A322; each sliding member A322 is connected to the base 321 through a linear guide. The elastic element A can be arranged between the base 321 and the clamping jaw A323, between the clamping jaw A323 and the sliding member A322, or / and between the two clamping jaws A323. The elastic element A can be implemented by the prior art such as a cylindrical helical spring, a cylindrical helical tension spring, a spring sheet or rubber. The elastic element A in this embodiment is at least one tension spring A324 arranged between the two clamping jaws A323; the two ends of each tension spring A324 are respectively fixed on the two clamping jaws A323. The limiting structure A can be realized by using existing technologies such as long holes and pins. The limiting structure in this embodiment includes a boss A3221 fixed on the sliding member A322 and a boss B3232 fixed on the clamping jaw A323, and the two bosses A3221 are arranged between the two bosses B3232. The function of the limiting structure is to prevent the clamping jaw A323 from detaching from the sliding member A322, and to open the clamping jaw A323 at the same time when the sliding member A322 is opened. By clamping the outer wall of the test tube at two openings of the V-shaped groove 3231 facing each other, it can adapt to test tubes of various specifications and improve versatility. At the same time, the test tube is clamped by providing a clamping force through the elastic element A, and the size of the clamping force can be adjusted by changing the number of elastic elements A, thereby avoiding the problem of damage to the test tube caused by excessive clamping force provided by the driving mechanism A.

[0058] like Figure 8As shown, the tube picking device 3 also includes a push rod A351 arranged below the tube sample box; the push rod A351 is connected to a lifting mechanism 35 that drives it to move vertically to lift the test tube in the tube sample box. The lifting mechanism 35 can be implemented by existing technologies such as a cylinder. In this embodiment, the lifting mechanism 35 includes a bracket 354, a push rod rack A353 vertically slidably connected to the bracket 354 through a linear guide, a push rod gear A (not shown in the figure) meshed with the push rod rack A353, and an air motor B352 fixed to the bracket 354 and whose output end is fixedly connected to the push rod gear A; the push rod A351 and the push rod rack A353 are both arranged vertically, i.e., in the Z-axis direction, and the push rod rack A353 is fixedly connected to the push rod A351. In this embodiment, the bracket 354 is connected to a manipulator D36 that drives it to slide along the X-axis direction to realize the horizontal movement of the push rod A351 below the tube sample box.

[0059] like Fig. 9 As shown, the chuck 32 also includes a push rod B326 arranged above the clamping jaw A323, a sliding member B327 slidably connected to the push rod B326, a driving mechanism B driving the sliding member B327 to slide up and down, and an elastic element B328 arranged between the sliding member B327 and the push rod B326 and driving the push rod B326 to slide downward; the contact center point between the push rod B328 and the test tube and the contact center point between the push rod A351 and the test tube are on a vertical line. The driving mechanism B can be implemented by using existing technologies such as a slide cylinder. In this embodiment, the driving mechanism B includes an air motor C fixed on the base 321, a push rod gear B fixed at the output end of the air motor C, a rack meshing with the push rod gear B and fixedly connected to the sliding member B327, and a linear guide rail arranged between the sliding member B327 and the base 321. The elastic element B in this embodiment is a compression spring 328 arranged between the push rod B326 and the sliding member B327. To prevent the push rod B326 from being separated from the sliding member B327, in this embodiment, a limit block 329 is provided on the side of the push rod B326 away from the compression spring 328, and the limit block 329 is fixed on the sliding member B327. When the chuck 32 clamps the test tube, the push rod B326 moves down until the bottom end of the push rod B326 touches the top of the test tube, and then the push rod A351 moves upward to lift the test tube in the sample box 6, and the push rod B326 compresses the compression spring 328, thereby preventing the test tube from being skewed during the lifting process, and then the clamp A323 is closed, and the two V-shaped grooves 3231 clamp the outer wall of the test tube, and then the push rod A351 and the push rod B326 are reset to the initial state, and the chuck 32 clamps the test tube.

[0060] like Fig.14As shown, in this embodiment, the tube taking area and tube placing area of ​​the platform 31 are both provided with a clamp body A381 and a single-axis robot B382 that drives the clamp body A381 to slide along the Y-axis direction. The clamp body A381 is provided with a positioning groove A3811 for positioning the sample box 6, and a circumvention hole 3812 for circumventing the push rod A351 is provided at the bottom of the positioning groove A3811 in the tube taking area. The transit area of ​​the platform 31 is provided with a clamp body B371 and a single-axis robot C372 that drives the clamp body B371 to slide along the Y-axis direction. The clamp body B371 is provided with a positioning groove B3711 for positioning the sample box 6, and one side wall of the positioning groove B3711 is provided with an opening for the sample box 6 to enter the positioning groove B3711. Then, the manipulator C34, the manipulator A33 and the manipulator D35 can reduce the movement in one direction, simplify the structure and save energy.

[0061] Manipulator B4, manipulator A33, manipulator C34 and manipulator D35 can all be realized by using existing technologies such as multi-axis manipulators assembled from single-axis robots or complete sets of four-axis manipulators or complete sets of six-axis manipulators. Fig.14 As shown, the robot C34 in this embodiment includes a clamping mechanism for clamping or releasing the sample box 6 and a robot arm A341 for driving the clamping mechanism to transfer the sample box 6 between the transfer area, the tube taking area and the tube placing area. The robot arm A341 in this embodiment includes two assembled single-axis robots. The clamping mechanism is fixed on the slider of one of the single-axis robots. Fig.15As shown, the clamping mechanism includes two relative sliding members C344 and a driving mechanism C for driving the two sliding members C344 to slide relative to each other, each sliding member C344 is slidably connected with a clamping arm 345, and the sliding direction of the clamping arm 345 is the same as the sliding direction of the sliding member C344; a limiting structure A is arranged between the clamping arm 345 and its corresponding sliding member C344; the opposite surfaces of the two clamping arms 345 each have a hooking portion 3451; accordingly, the side walls of the positioning groove A3811 and the positioning groove B3711 are provided with a clearance groove for avoiding the hooking portion 3451; the clamping mechanism also includes an elastic element C for driving the two clamping arms 345 to close. In this embodiment, the driving mechanism C includes a support 343, an air motor D342 fixed on the support 343, a clamp arm gear 346 fixed on the output end of the air motor D342, and two clamp arm racks 345 meshed with the clamp arm gear 346; the clamp arm gear 346 is arranged between the two clamp arm racks 345; the two clamp arm racks 345 are respectively fixedly connected to the two sliding members C344; the two sliding members C344 are both slidably connected to the support 343. The limiting structure A can be realized by using the existing technology. In this embodiment, the limiting structure A includes a boss A3441 fixed on the sliding member C344 and a boss B3452 fixed on the clamp arm 345, and the two bosses A3441 are arranged between the two bosses B3452. The function of the limiting structure A is to prevent the clamp arm 345 from being separated from the sliding member C344, and to drive the two clamp arms 345 to open simultaneously following the two sliding members C344. The elastic element C can be arranged between the driving mechanism and the clamp arm 345, between the clamp arm 345 and the sliding member C344, or / and between the two clamp arms 345. In this embodiment, the elastic element C includes at least one tension spring B347, and the two ends of the tension spring B347 are respectively fixedly connected to the two clamp arms 345. In this embodiment, three tension springs B347 are provided. The two clamp arms 345 are driven by the elastic element C to close and clamp the sample box 6, so that the clamp arm 345 can automatically adjust the clamping center according to the center of the sample box 6, and at the same time, a hook portion 3451 is provided to avoid the problem of damage to the sample box 6 caused by the tilt of the sample box 6; at the same time, the hook portion 3451 can prevent the sample box from falling, thereby reducing the clamping force to avoid the problem of deformation of the sample box 6 or damage to the test tube caused by excessive clamping force.

[0062] like Figure 3 As shown, the robot B4 in this embodiment includes a pick-up and placement mechanism 42 for picking up and placing the sample box 6 and a robot arm B41 for driving the pick-up and placement mechanism 42 to transfer the sample box 6 between the tube picking area, the access port A161 and the end sample rack 211 on the lateral movement module 240 near the access port B111. Fig.16As shown, the pick-and-place mechanism 42 in this embodiment includes a support member 424 with a guide groove 4241 on the top surface, two clamping jaws B521 both arranged above the guide groove 4241, a clamping jaw driving mechanism driving the two clamping jaws B521 to clamp or release the sample box, and a linear driving mechanism 427 driving the two clamping jaws B521 to slide along the opening direction of the guide groove 4241. The clamping jaw driving mechanism in this embodiment includes a moving seat 426 fixedly connected to the output end of the linear driving mechanism, two sliding members D423 relatively slidably arranged on the moving seat 426, a driving device 425 driving the two sliding members D423 to slide, a limiting structure B arranged between the clamping jaws B521 and its corresponding sliding member D423, and an elastic element D driving the two clamping jaws B521 to close; the sliding directions of the two sliding members D423 and the two clamping jaws B521 are both perpendicular to the sliding direction of the moving seat 426, and the two sliding members D423 are slidably connected to the two clamping jaws B521 respectively. The driving device 425 of this embodiment includes two clamping jaw racks 4253 respectively fixedly connected to two sliding members D423, a clamping jaw gear 4251 arranged between the two clamping jaw racks 4253 and meshing with the two clamping jaw racks 4253, and an air motor D4252 fixedly connected to the moving seat 426; the output end of the air motor D4252 is fixedly connected to the clamping jaw gear 4251. The elastic element D can be arranged between the moving seat 426 and the clamping jaw B421, between the clamping jaw B421 and the sliding member D423, or / and between the two clamping jaws B421. The elastic element D in this embodiment is at least one tension spring 422 arranged between the two clamping jaws B421; the two ends of the tension spring 422 are respectively fixedly connected to the two clamping jaws B421. The limiting mechanism B in this embodiment includes a boss E4231 fixed on the sliding member D423 and a boss F4211 fixed on the clamping jaw B421, and the two bosses E4231 are arranged between the two bosses F4211. The function of the limiting structure B is to prevent the clamping jaw B421 from being separated from the sliding member D423, and to open the clamping jaw B421 at the same time when the driving device 425 drives the sliding member D423 to open. The linear drive mechanism 427 in this embodiment includes a servo motor 4271 fixedly connected to the moving seat 426, a moving seat gear (not shown) fixedly connected to the output end of the servo motor 4271, and a moving seat rack 4272 meshing with the moving seat gear; the bottom of the guide groove 4241 is provided with a mounting groove; the moving seat rack 4272 is fixed to the bottom of the mounting groove; a rolling guide 4273 is provided between the moving seat 426 and the bottom of the mounting groove; specifically, the guide rail of the rolling guide 4273 is fixed to the bottom of the mounting groove, and the slider of the rolling guide 4273 is fixedly connected to the moving seat 426. The rolling guide 4273 and the moving seat rack 4272 are both arranged along the opening direction of the guide groove 4241.The guide groove 4241 of the support component 424 in this embodiment is docked with the relevant equipment, and then the clamping jaws B421 are driven by the clamping jaws driving mechanism to close to clamp the sample box 6. The linear driving mechanism 427 then drives the two clamping jaws B421 and the sample box 6 to move, so that the sample box 6 moves into the guide groove 4241. The guide groove 4241 supports and limits the sample box, so there is no need to increase the clamping force of the clamping jaw driving mechanism to avoid damage to the sample box 6.

[0063] Both the robot arm A341 and the robot arm B41 can be realized by using existing technologies such as a multi-axis robot assembled from a single-axis robot, a complete set of four-axis robots, or a complete set of six-axis robots.

[0064] A plurality of sample racks 210 are arranged in an even number of rows, and the sample rack 210 running tracks are an even number of rows; a transverse movement module 240 is respectively arranged at both ends of the running tracks of each two adjacent groups of sample racks 210 to drive the end sample rack 211 to reciprocate between the ends of the running tracks 220 of the two adjacent groups of sample racks 210. That is, two transverse movement modules 240 are correspondingly arranged for two rows of sample racks 210, and the two transverse movement modules 240 respectively move the end sample racks 211 at the head and tail ends of the two rows of sample racks 210; when four rows of sample racks 210 are arranged, four transverse movement modules 240 can be correspondingly arranged, that is, two transverse movement modules 240 are corresponding to each two adjacent rows of sample racks 210, and are respectively arranged at both ends of the two rows of sample racks 210. In this way, the conveying cycle of the sample rack 210 can be carried out between the two adjacent rows of sample racks 210, which is convenient for control implementation and reduces the conveying cycle time, so as to move the target sample rack out as soon as possible.

[0065] like Fig.10 As shown, a sample rack hook structure 250 is provided at the upper end of the sample rack 210, and the sample rack hook structure 250 includes a hook 252 with a slot 251 and a pin 253 matched with the slot 251. The hook 252 is rotatably arranged on the sample rack 210, and the pin 253 is fixed to the sample rack 210, and the pin 253 and the slot 251 of the hook 252 are in a state of being separated from each other; in every two adjacent sample racks 210 in the whole row of sample racks 210, the hook 252 on one sample rack 210 is locked to the pin 253 on the other sample rack 210. The pin 253 is fixed to the sample rack 210 through a pin seat 255. The sample rack hook structure enables the sample racks 210 to achieve a good limiting association effect. In each row of sample racks 210, adjacent sample racks 210 are connected and limited by the hooks 52, which can not only achieve stable movement of the entire row of sample racks 210, but also maintain a safe and stable relative position between adjacent sample racks 210. The integrity and convenience of overall movement are improved to avoid collision or deflection.

[0066] like Figure 2As shown, the biological sample library also includes a frame body 260 disposed outside all sample racks 210, and a decoupling driving structure for disengaging the hook 252 from the latch 253 is disposed on the frame body 260 corresponding to the end sample rack 211. The decoupling driving structure is used to disengage the latch 253 or hook 252 of the end sample rack 211 from the slot 251 or latch 253 on another adjacent sample rack 210. The decoupling driving structure can use a driving component in the prior art such as a cylinder to push or pull the hook 252 out of the latch 253. The decoupling driving structure can also use the decoupling block 261 provided in this embodiment, see Fig.10 When the unhooking block 261 is used, a driving wheel 257 is rotatably arranged on one side of the upper part of the clamping end of the hook 252, and the rotation center line of the driving wheel 257 is parallel to the rotation center line of the hook 252. The unhooking driving structure is the unhooking block 261 corresponding to the lower part of the driving wheel 257. The two sides of the top surface of the unhooking block 261 are inclined wedge surfaces, and the inclined wedge surfaces are inclined downward toward the outer sides of the two sides. The unhooking block 261 is installed on the frame body 260. When the driving wheel 257 moves to the top of the unhooking block 261 along with the sample rack 210, as it moves, the driving wheel 257 rises to the top surface of the unhooking block 261 through the movement of the inclined wedge surface, and the driving wheel 257 is lifted, and the clamping end of the hook 252 is lifted and separated from the latch 253, so as to achieve unhooking. After unhooking, the hook 252 can fall back by its own weight, or it can be returned to its position by the spring force provided by the spring provided between the hook 252 and the hook seat 254.

[0067] like Fig.11 and 12 As shown, the lower end of the sample rack 210 is equipped with multiple groups of running wheel groups, and the running wheel groups are correspondingly located on the sample rack running track 220. The running wheel groups are arranged in two rows at the lower end of the sample rack 210, and each group of sample rack running track 220 correspondingly includes two running track bodies 221, and the running track body 221 has a bearing groove 222 for accommodating the running wheel group. Each running wheel group may include a wheel seat 212, at least two running wheels 213 and at least one guide wheel 214, and the running wheels 213 are respectively rotatably arranged on the opposite sides of the wheel seat 212, and the rotation center line of the running wheel 213 is in a horizontal state, and the guide wheel 214 is rotatably arranged at the lower end of the wheel seat 212, and the rotation center line of the 214 guide wheel is in a vertical state, which is used for guidance during the walking process.

[0068] like Fig.11 As shown, the sample rack 215 has a plurality of rows and columns of storage chambers 215 separated by partitions C, and the sample box 6 is placed in the storage chamber 215. One end of the storage chamber 215 facing the partition A11 is open to facilitate the taking and placing of the sample box 6.

[0069] The lateral movement module 240 can be driven by other existing methods such as a robot or a cylinder to drive the end sample rack 211 to lateral movement. Figure 2As shown, the transverse movement module 240 used in this embodiment includes a fixed transverse movement base 241, a transverse movement frame 242 on the transverse movement base 241, and a transverse movement driving mechanism 243 that drives the transverse movement frame 242 to reciprocate on the transverse movement base 241; the transverse movement frame 242 corresponds to the end of the sample rack running track 220, and the reciprocating movement direction of the transverse movement frame 242 is perpendicular to the length direction of the sample rack running track 220. The end sample rack 211 is pushed to the transverse movement frame 242, and the transverse movement frame 242 drives the end sample rack 211 to move horizontally. It is easy to implement, meets the transverse movement requirements, occupies a small space and has a low cost. The transverse movement driving mechanism 243 can adopt a driving device in the prior art such as a motor screw drive, a motor and chain drive, a motor and gear rack drive, etc.

[0070] like Fig.13 As shown, the transverse frame 242 is provided with a sample rack limiting track 244 corresponding to the sample rack 210 running track. The sample rack limiting track 244 also has the bearing groove 222 for accommodating the bearing running wheel set, which is used for the sample rack 210 to enter the transverse frame 242 from the sample rack running track 220, better dock with the sample rack running track 220, and also play a role in limiting the sample rack 210 during the transverse movement process. A limiting plate 245 is provided at one end of the transverse frame 242 away from the sample rack running track 220 to limit the sample rack running direction and prevent the sample rack 210 from falling off the transverse frame 242.

[0071] like Figure 1 and 2 As shown, the pushing mechanism 230 includes linear driving elements 231 located at both ends of the outside of each row of sample racks 210. To push each row of sample racks 210 to move on the sample rack walking track 220, in this embodiment, a driving electric cylinder is used as the linear driving element 231, and other driving mechanisms in the prior art such as a cylinder can also be used. Other mechanisms that can drive the entire row of sample racks 210 to move can also be used, such as a U-shaped frame corresponding to the outside of each row of sample racks 210, and the entire row of sample racks 210 is driven to move back and forth.

[0072] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A biological sample library, characterized in that: The invention comprises a storage body and a partition A arranged in the storage body; the internal space of the storage body is divided into a pipe-drawing area and a storage area which are arranged in parallel along a first direction by the partition A; the storage body is provided with an access port A which connects the pipe-drawing area with the outside, and a closed door A is arranged at the access port A to close the access port; the partition A is provided with an access port B which connects the pipe-drawing area with the storage area, and a closed door B is arranged at the access port B to close the access port; The storage area is provided with a sample rack storage and conveying circulation system; The sample rack storage and transport circulation system comprises: A sample rack, wherein the sample racks are multiple and arranged in at least two rows along the second direction; each of the sample racks is provided with multiple sample boxes; the two sample racks at the outermost ends of each row of sample racks are end sample racks; the second direction is perpendicular to the first direction; The sample rack running tracks are at least two sets parallel to each other, and each set of sample rack running tracks is used to carry a row of sample racks; A pushing mechanism is correspondingly arranged outside each row of sample racks to push the entire row of sample racks to move along the sample rack walking track; There are at least two transverse movement modules, which are respectively arranged at both ends of all sample rack running tracks to drive the end sample rack to move back and forth between the ends of any two groups of sample rack running tracks; A tube picking device is provided in the tube picking area; the tube picking device comprises a platform having a tube placing area and a tube taking area, a chuck for clamping or loosening the test tube, and a manipulator A for driving the chuck to reciprocate between the tube placing area and the tube taking area, and the tube picking device further comprises a buffer device provided under the platform; The tube picking area is also provided with a robot B for transferring the sample box between the end sample rack on the transverse movement module close to the access port B, the tube picking area and the access port A.

2. The biological sample library according to claim 1, characterized in that: The end of the access port A away from the closed door A is provided with a closed door C; between the closed door A and the closed door C is a precooling chamber for precooling biological samples.

3. The biological sample library according to claim 1, characterized in that: The chuck includes two sliding parts A arranged to slide relative to each other, two clamping jaws A arranged to slide relative to each other, a driving mechanism A for driving the two sliding parts A to slide relative to each other, and an elastic element A for driving the two clamping jaws A to close; V-shaped grooves are provided on the opposite surfaces of the two clamping jaws A, and the openings of the two V-shaped grooves are opposite to each other, and the two clamping jaws A correspond one-to-one to the two sliding parts A; a limiting structure is provided between each clamping jaw A and its corresponding sliding part A.

4. The biological sample library according to claim 3, characterized in that: The tube lifting device further comprises a push rod A disposed below the sample box; the push rod A is connected to a lifting mechanism that drives the push rod A to move vertically so as to lift the test tube in the sample box.

5. The biological sample library according to claim 4, characterized in that: The chuck also includes a push rod B arranged above the clamping jaw A, a sliding member B slidably connected to the push rod B, a driving mechanism B driving the sliding member B to slide up and down, and an elastic element B arranged between the sliding member B and the push rod B and driving the push rod B to slide downward; The contact center point between the push rod B and the test tube and the contact center point between the push rod A and the test tube are on a vertical line.

6. The biological sample library according to claim 1, characterized in that: A sample rack hook structure is provided at the upper end of the sample rack, and the sample rack hook structure includes a hook with a slot and a pin matched with the slot. The hook is rotatably arranged on the sample rack, and the pin is fixed to the sample rack, and the slot of the pin and the hook are in a state of being separated from each other; in every two adjacent sample racks in the whole row of sample racks, the hook on one sample rack is hooked to the pin on the other sample rack.

7. The biological sample library according to claim 6, characterized in that: The invention also comprises a frame body arranged outside all sample racks, and a decoupling driving structure for disengaging the hook from the latch is arranged on the frame body corresponding to the end sample rack.

8. The biological sample library according to claim 1, characterized in that: The transverse movement module includes a fixed transverse movement base, a transverse movement frame on the transverse movement base, and a transverse movement driving mechanism for driving the transverse movement frame to reciprocate on the transverse movement base; the transverse movement frame corresponds to the end of the sample rack walking track, and the reciprocating movement direction of the transverse movement frame is perpendicular to the length direction of the sample rack walking track.

9. The biological sample library according to claim 8, characterized in that: The transverse moving frame is provided with a sample rack limiting track corresponding to the sample rack traveling track.

10. The biological sample library according to claim 1, characterized in that: The plurality of sample racks are arranged in an even number of rows, and the sample rack running tracks are an even number of arrays; a lateral movement module is respectively provided at both ends of each two adjacent groups of sample rack running tracks to drive the end sample racks to reciprocate between the ends of the two adjacent groups of sample rack running tracks.

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