Single tube grabbing control system in deep low temperature cold chain environment

Abstract

The single-tube grabbing control system in a deep-low temperature cold chain environment belongs to the field of single-tube grabbing technology, and in particular relates to a single-tube grabbing control system in a deep-low temperature cold chain environment. The present invention provides a single-tube grabbing control system in a deep-low temperature cold chain environment with good use effect. The single-tube grabbing control system in a deep-low temperature cold chain environment of the present invention includes a processor circuit, a first stepper motor drive circuit, a second stepper motor drive circuit, a third stepper motor drive circuit, a heating control circuit, a temperature detection circuit and a power supply circuit, and is characterized in that the signal transmission port of the processor circuit is respectively connected to the signal transmission port of the first stepper motor drive circuit, the signal transmission port of the second stepper motor drive circuit, the signal transmission port of the third stepper motor drive circuit, the signal transmission port of the heating control circuit, and the signal transmission port of the temperature detection circuit.

Description

Technical Field

[0001] The present invention belongs to the technical field of single-tube grabbing, and in particular relates to a single-tube grabbing control system in a deep-low temperature cold chain environment. Background Art

[0002] There are two existing sample tube gripping techniques. The first is gripping from the outside of the sample tube cap. This method is currently used by some manufacturers and is commonly found in SBS plate rack storage systems. The second is gripping from the inside of the sample tube cap. Due to the recessed structure in the center of the sample tube cap, this gripping method has become the mainstream.

[0003] Among existing sample tube gripping technologies, the first method, which involves gripping from the outside of the sample tube cap, is highly space-constrained and can easily collide with surrounding sample tubes, potentially damaging the sample. The second method, which involves gripping from the inside of the sample tube cap, often results in tube jams or drops, requiring manual intervention to prevent sample loss. Furthermore, even the slightest wear on the gripper can prevent proper gripping.

[0004] In this way, it is necessary to design a single-tube grabbing device with good use effect in a deep-low temperature cold chain environment, and then it is necessary to design a single-tube grabbing control system with good use effect in a deep-low temperature cold chain environment. Summary of the Invention

[0005] The present invention aims to solve the above problems and provides a single-tube grabbing control system with good use effect in a deep-low temperature cold chain environment.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical scheme. The single-tube grasping control system under the deep-low temperature cold chain environment of the present invention includes a processor circuit, a first stepper motor drive circuit, a second stepper motor drive circuit, a third stepper motor drive circuit, a heating control circuit, a temperature detection circuit and a power supply circuit, and is characterized in that the signal transmission port of the processor circuit is respectively connected to the signal transmission port of the first stepper motor drive circuit, the signal transmission port of the second stepper motor drive circuit, the signal transmission port of the third stepper motor drive circuit, the signal transmission port of the heating control circuit, and the signal transmission port of the temperature detection circuit, and the power output port of the power supply circuit is respectively connected to the power port of the processor circuit, the power port of the first stepper motor drive circuit, the power port of the second stepper motor drive circuit, the power port of the third stepper motor drive circuit, the power port of the heating control circuit, and the power port of the temperature detection circuit.

[0007] As a preferred solution, the processor circuit described in the present invention includes an STM32F103ZET6 chip U1, pins 133 to 136 of U1 are respectively connected to PB3 to PB6, and pins 73 to 76 of U1 are respectively connected to PB12 to PB15; pin 100 of U1 is connected to PA8; pins 99, 111, and 112 of U1 are respectively connected to PC9, PC10, and PC11; pins 42 and 43 of U1 are respectively connected to PA6 and PA7; pins 35 to 37 and 7 of U1 are respectively connected to PA1, PA2, PA3, and PC13; pins 127 to 129 and 132 of U1 are respectively connected to PG12, PG13, PG14, and PG15.

[0008] As another preferred embodiment, the first stepper motor drive circuit of the present invention includes TLP250 chips OP1, OP3, OP5, and OP7, wherein pin 2 of OP1 is connected to PB3 via resistor R1, pins 6 and 7 of OP1 are connected to the gate of IRFP260NPB tube Q1, the source of Q1 is connected to GND and pin 5 of OP1 respectively, and the drain of Q1 is connected to pin 2 of connector P1;

[0009] Pin 2 of OP3 is connected to PB4 through resistor R11. Pins 6 and 7 of OP3 are connected to the gate of IRFP260NPB tube Q3. The source of Q3 is connected to GND and pin 5 of OP3 respectively. The drain of Q3 is connected to pin 3 of connector P1.

[0010] Pin 2 of OP5 is connected to PB5 through resistor R21. Pins 6 and 7 of OP5 are connected to the gate of IRFP260NPB tube Q5. The source of Q5 is connected to GND and pin 5 of OP5 respectively. The drain of Q5 is connected to pin 4 of connector P1.

[0011] Pin 2 of OP7 is connected to PB6 through resistor R31, pins 6 and 7 of OP7 are connected to the gate of IRFP260NPB tube Q7, the source of Q7 is connected to GND and pin 5 of OP7 respectively, and the drain of Q7 is connected to pin 5 of connector P1.

[0012] As another preferred embodiment, the second stepper motor drive circuit of the present invention includes TLP250 chips OP2, OP4, OP6, and OP8, wherein pin 2 of OP2 is connected to PB12 via resistor R2, pins 6 and 7 of OP2 are connected to the gate of IRFP260NPB tube Q2, the source of Q2 is connected to GND and pin 5 of OP2, respectively, and the drain of Q2 is connected to pin 2 of connector P2;

[0013] Pin 2 of OP4 is connected to PB13 through resistor R12. Pins 6 and 7 of OP4 are connected to the gate of IRFP260NPB tube Q4. The source of Q4 is connected to GND and pin 5 of OP4 respectively. The drain of Q4 is connected to pin 3 of connector P2.

[0014] Pin 2 of OP6 is connected to PB14 through resistor R22. Pins 6 and 7 of OP6 are connected to the gate of IRFP260NPB tube Q6. The source of Q6 is connected to GND and pin 5 of OP6 respectively. The drain of Q6 is connected to pin 4 of connector P2.

[0015] Pin 2 of OP8 is connected to PB15 through resistor R32, pins 6 and 7 of OP8 are connected to the gate of IRFP260NPB tube Q8, the source of Q8 is connected to GND and pin 5 of OP8 respectively, and the drain of Q8 is connected to pin 5 of connector P2.

[0016] As another preferred embodiment, the third stepper motor drive circuit of the present invention includes TLP250 chips OP11, OP12, OP13, and OP14, wherein pin 2 of OP11 is connected to PG12 via resistor R54, pins 6 and 7 of OP11 are connected to the gate of IRFP260NPB tube Q10, the source of Q10 is connected to GND and pin 5 of OP11 respectively, and the drain of Q10 is connected to pin 2 of connector P5;

[0017] Pin 2 of OP12 is connected to PG13 through resistor R59. Pins 6 and 7 of OP12 are connected to the gate of IRFP560NPB tube Q11. The source of Q11 is connected to GND and pin 5 of OP12 respectively. The drain of Q11 is connected to pin 3 of connector P5.

[0018] Pin 2 of OP13 is connected to PG14 through resistor R64. Pins 6 and 7 of OP13 are connected to the gate of IRFP560NPB tube Q12. The source of Q12 is connected to GND and pin 5 of OP13 respectively. The drain of Q12 is connected to pin 4 of connector P5.

[0019] Pin 2 of OP14 is connected to PG15 through resistor R69, pins 6 and 7 of OP14 are connected to the gate of IRFP560NPB tube Q13, the source of Q13 is connected to GND and pin 5 of OP14 respectively, and the drain of Q13 is connected to pin 5 of connector P5.

[0020] As another preferred embodiment, the heating control circuit of the present invention includes an EL357 chip OP9, the anode of the input end of OP9 is connected to +3.3V, the cathode of the input end of OP9 is connected to PA8, the collector of the output end of OP9 is connected to +12V2, the emitter of the output end of OP9 is connected to the base of the NPN transistor Q9, the emitter of Q9 is connected to GND, the collector of Q9 is connected to one end of the control end of the relay KM1, and the other end of the control end of KM1 is connected to +12V2; one end of the controlled end of KM1 is respectively connected to AC_L and one end of the controlled end of the relay KM2, and the other end of the controlled end of KM2 is connected to AC_N; the other end of the controlled end of KM1 is connected to AC_N through the control end of KM2.

[0021] As another preferred solution, the temperature detection circuit of the present invention includes an STH31 chip U3, wherein pin 1 of U3 is connected to PA6, and pin 4 of U3 is connected to PA7.

[0022] Secondly, the power supply circuit described in the present invention includes an S-500-48 power supply POW1, a GPA40B-15 power supply POW2, a GPA40B-05 power supply POW3 and an AMS1117-3.3 chip U4. The input terminal of POW1 is connected to AC_L and AC_N, and the output terminal of POW1 is connected to 48V. The input terminal of POW2 is connected to AC_L and AC_N, and the output terminal of POW2 is connected to +15V. The input terminal of POW2 is connected to AC_L and AC_N, and the output terminal of POW2 is connected to +5V; pin 3 of U4 is connected to +5V, and pin 2 of U4 is connected to +3.3V.

[0023] In addition, the present invention also includes a motor operation reset button S1, an emergency stop switch S2, an EL357N(B)(TA)-G chip OP10 and an EL357N(B)(TA)-G chip OP20, one end of S1 is connected to +3.3V, and the other end of S1 is connected to PA1; one end of S2 is connected to +3.3V, and the other end of S2 is connected to PA2; the anode of the OP10 input end is connected to DORP_KEY_INSIDE1 through a light-emitting diode E1, the cathode of the OP10 input end is connected to GND, the collector of the OP10 output end is connected to +3.3V, and the emitter of the OP10 output end is connected to PA3; the anode of the OP20 input end is connected to DORP_KEY_INSIDE2 through a light-emitting diode E2, the cathode of the OP20 input end is connected to GND, the collector of the OP20 output end is connected to +3.3V, and the emitter of the OP10 output end is connected to PC13.

[0024] The present invention has beneficial effects.

[0025] The processor circuit of the present invention can control the movement of the outer sleeve 4 and the bevel gear 9 through each stepping motor driving circuit.

[0026] The processor circuit of the present invention can heat the motor through the heating control circuit and the temperature detection circuit to prevent low-temperature failure.

[0027] By using the various components of the present invention in combination, the single-tube grabbing device can be controlled efficiently and reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention is further described below with reference to the accompanying drawings and specific embodiments. The scope of protection of the present invention is not limited to the following description.

[0029] Figure 1 It is a circuit schematic diagram of the processor of the present invention.

[0030] Figure 2 This is a schematic diagram of the motor drive circuit of the present invention.

[0031] Figure 3 It is a schematic diagram of the heating control circuit of the present invention.

[0032] Figure 4 It is the principle diagram of the temperature detection circuit of the present invention.

[0033] Figure 5 It is a schematic diagram of the power supply circuit of the present invention.

[0034] Figure 6 It is a structural schematic diagram of a single-tube grabbing device in a deep-low temperature cold chain environment of the present invention.

[0035] Figure 7 It is a structural schematic diagram of the firing pin ejection state of the present invention.

[0036] Figure 8 It is a cross-sectional view of the rotary grapple release device of the present invention.

[0037] Figure 9 This is a three-dimensional appearance diagram of the single-tube grabbing device in a deep-low temperature cold chain environment of the present invention.

[0038] Figure 10 It is a top view of the grapple of the present invention (i.e. Figure 1 A-axis view of the same image, without the rotation lever).

[0039] Figure 11 、 12 Schematic diagram of the sample tube cap structure of the present invention.

[0040] Figure 13 yes Figure 9 A partial enlarged view of .

[0041] In the figure, 1 is the pipe cap firing pin head, 2 is the lower connecting rod, 3 is the upper connecting rod, 4 is the outer sleeve, 5 is the connecting frame, 6 is the grab hook, 7 is the rotating grab hook release device, 8 is the rotating control lever, 9 is the umbrella gear, 10 is the firing pin spring, 11 is the firing pin, 12 is the built-in firing pin of the claw head, 13 is the upper connecting rod groove, 14 is the guide sleeve, 15 is the arc-shaped frosted surface structure, 16 is the arc-shaped connecting frame, 17 is the connecting frames on both sides, and 18 is the area enclosed by the inner sides of the left and right arc-shaped connecting frames. DETAILED DESCRIPTION

[0042] As shown in the figure, the single-tube grabbing control system for a cryogenic cold chain environment of the present invention can be applied to a single-tube grabbing device in a cryogenic cold chain environment. The single-tube grabbing device for a cryogenic cold chain environment includes an outer sleeve, a rotating control lever disposed at the upper portion of the outer sleeve, the upper end of which extends out of the outer sleeve and is connected to an umbrella gear, a grab hook and a rotating grab hook release device disposed at the lower end of the rotating control lever, a connecting frame disposed within the grab hook at the lower end of the rotating grab hook release device, a striker spring and a striker disposed within the connecting frame, and the striker disposed at the lower end of the striker spring.

[0043] The lower end of the grab hook is provided with a built-in striker in the claw head, the upper end of the built-in striker in the claw head is placed in the grab hook and connected to the striker, the lower end of the built-in striker in the claw head extends out of the outer sleeve and is connected to the pipe cap striker head, the upper end of the pipe cap striker head is axially connected to the lower end of the umbrella-shaped pipe cap claw head, and the upper end of the umbrella-shaped pipe cap claw head is axially connected to the lower end of the outer sleeve.

[0044] When the cap striker of the present invention contacts the sample tube, the reaction force of downward pressure pushes the internal striker of the claw head upward, simultaneously driving the umbrella-shaped cap claw head to expand outward, thereby gripping the sample tube cap and compressing the internal spring. When the internal striker reaches its maximum position, it is caught by an internal catch, preventing it from falling out and releasing the sample tube. The robotic arm then drives the outer sleeve to move the sample tube above a designated position, then slowly descends to a certain height. The umbrella-shaped gear motor is then activated, rotating the umbrella-shaped gear of the rotary control lever, thereby driving the rotating catch release mechanism to rotate and squeeze the catch, releasing the top of the internal striker of the claw head. The compressed spring expands, pushing the striker away, causing the internal striker of the claw head to extend outward, pulling the umbrella-shaped cap claw head straight, thereby releasing the sample tube cap and ejecting it, thus releasing the sample tube and allowing it to fall into the desired position.

[0045] The contact area of ​​the claws of the umbrella-rib type pipe cap of the present invention is larger. At the same time, due to the large contact surface, the clamp can be used normally even if it is slightly worn.

[0046] In addition, by adopting the device of the present invention, the occurrence of adhesion between the sample tube and the claw head can be effectively solved when the sample tube is released. Even if the sample tube and the claw head are adhered, they will be ejected when the firing pin rebounds.

[0047] The present invention can be used in a low-temperature environment, and ensures the stability of sample tube grasping, ensures the safety of the sample, and can effectively prevent the sample from falling off or the tube from getting stuck.

[0048] The present invention grabs the sample tube by clamping the cap from inside the sample tube cap, which can avoid collision with other samples.

[0049] The umbrella-shaped tube cap claw head includes an upper connecting rod and a lower connecting rod, the upper end of the upper connecting rod is axially connected to the lower end of the outer sleeve, the lower end of the upper connecting rod is axially connected to the upper end of the lower connecting rod, and the lower end of the lower connecting rod is axially connected to the tube cap striker head; the combination of the upper connecting rod and the lower connecting rod is multiple groups, which are evenly distributed along the circumferential direction.

[0050] An upper connecting rod groove is provided at the front end of the outer sleeve corresponding to the upper connecting rod.

[0051] A guide sleeve is provided on the inner side of the lower end of the outer sleeve, and a built-in striker of the claw head passes through the guide sleeve. The guide sleeve prevents the striker from tilting.

[0052] The axial connection between the upper connecting rod and the lower connecting rod adopts an arc-shaped frosted surface structure.

[0053] The sample tube is grasped by the umbrella-rib-type tube cap claw. When the striker is pushed back, the umbrella ribs are tightened to expand outward (that is, the axial connection between the upper connecting rod and the lower connecting rod expands outward), pressing against the inner wall of the sample tube cap. The arc-shaped design of the connection (with smoother edges) and the frosted surface material (which can effectively increase friction and make the grasping more secure) can effectively improve the firmness of the tube grasping. After stretching (the grab hook is unfolded and the built-in striker of the claw is pushed out), the sample tube can be ejected to avoid adhesion between the claw and the sample tube.

[0054] The umbrella-shaped tube cap claw is a regular hexagon, the center of the regular hexagon is connected to the lower end of the built-in striker of the claw, the width of the regular hexagon is greater than the width of the built-in striker of the claw, and each side of the regular hexagon corresponds to a combination of an upper connecting rod and a lower connecting rod.

[0055] The lower end of the grab hook is bent inward, and the upper end of the built-in striker of the claw head extends toward the periphery. The lower end surface of the extension portion serves as an interaction surface with the upper end of the bent portion of the lower end of the grab hook.

[0056] The cross section of the rotary hook release device is a transverse S-shape, and the center of the rotary hook release device is connected to the center of the connecting frame.

[0057] The grab hook is connected to the inner wall of the outer sleeve through a grab hook bracket. The grab hook includes a left grab hook and a right grab hook. The grab hook bracket includes a left grab hook bracket and a right grab hook bracket. The left grab hook bracket and the right grab hook bracket include two connecting frames. The rear ends of the two connecting frames are connected to the inner wall of the outer sleeve. The front ends of the two connecting frames are connected through an arc-shaped connecting frame. The upper end of the left grab hook is connected to the middle rear end of the left arc-shaped connecting frame, and the upper end of the right grab hook is connected to the middle rear end of the right arc-shaped connecting frame. The rotating control rod passes through the area surrounded by the inner sides of the left and right arc-shaped connecting frames.

[0058] The grab hook is elastic. When the rotary grab hook release device is turned to the left and right sides and the distance between the grab hooks is small, the grab hook will be clamped due to the elasticity.

[0059] The firing pin and rotating hook release mechanism can be made of polyphenylene ether. Polyphenylene ether (PPO) components perform well in low-temperature environments, reducing wear caused by friction with metal parts. Testing with materials such as low-temperature copper alloy, low-temperature aluminum alloy, low-temperature stainless steel, PE, PP, and PPO revealed that metal firing pins and rotating hook release mechanisms exhibited a degree of wear after 5,000 cycles. The hook showed significant wear, no longer able to engage the internal firing pin tip of the claw, and could adhere to other metal components. While PE and PP materials experienced varying degrees of breakage and damage during use, PPO exhibited significantly less wear during testing compared to other materials. PE and PP firing pins cracked in the middle after approximately 4,400 cycles, rendering them inoperable. PPO, on the other hand, broke after an average of approximately 6,830 cycles, rendering them inoperable.

[0060] When selecting the firing pin spring, we tested springs made from carbon steel, cold-drawn 18 / 8 austenitic 304 stainless steel, copper alloy, and nickel alloy. Carbon steel is prone to brittleness in low-temperature environments, preventing proper performance. Cold-drawn 18 / 8 austenitic 304 stainless steel offers high tensile strength and exhibits virtually no fluctuation in impulse strength at sub-zero temperatures. Copper alloys and nickel alloys perform almost identically to 304 stainless steel at low temperatures, but their high cost makes them less cost-effective than 304 stainless steel. Therefore, cold-drawn 18 / 8 austenitic 304 stainless steel was selected for the firing pin spring.

[0061] It also includes a control part (i.e., the single-tube grabbing control system in the deep-low temperature cold chain environment of the present invention), the control part includes a processor circuit, a first stepper motor drive circuit, a second stepper motor drive circuit, a third stepper motor drive circuit, a heating control circuit, a temperature detection circuit and a power supply circuit, the signal transmission port of the processor circuit is respectively connected to the signal transmission port of the first stepper motor drive circuit, the signal transmission port of the second stepper motor drive circuit, the signal transmission port of the third stepper motor drive circuit, the signal transmission port of the heating control circuit, and the signal transmission port of the temperature detection circuit, and the power output port of the power supply circuit is respectively connected to the power port of the processor circuit, the power port of the first stepper motor drive circuit, the power port of the second stepper motor drive circuit, the power port of the third stepper motor drive circuit, the power port of the heating control circuit, and the power port of the temperature detection circuit.

[0062] The first stepper motor is used to drive the outer sleeve 4 to move horizontally, the second stepper motor is used to drive the outer sleeve 4 to move vertically, and the third stepper motor is used to drive the bevel gear 9 to rotate. The outer sleeve 4 can move horizontally and vertically by means of motor-driven gears and linear modules.

[0063] The processor circuit includes an STM32F103ZET6 chip U1, wherein pins 133 to 136 of U1 are connected to PB3 to PB6 respectively, and pins 73 to 76 of U1 are connected to PB12 to PB15 respectively; pin 100 of U1 is connected to PA8; pins 99, 111, and 112 of U1 are connected to PC9, PC10, and PC11 respectively; pins 42 and 43 of U1 are connected to PA6 and PA7 respectively; pins 35 to 37 and 7 of U1 are connected to PA1, PA2, PA3, and PC13 respectively; and pins 127 to 129 and 132 of U1 are connected to PG12, PG13, PG14, and PG15 respectively.

[0064] The first stepper motor drive circuit includes TLP250 chips OP1, OP3, OP5, and OP7. Pin 2 of OP1 is connected to PB3 via resistor R1. Pins 6 and 7 of OP1 are connected to the gate of IRFP260NPB tube Q1. The source of Q1 is connected to GND and pin 5 of OP1 respectively. The drain of Q1 is connected to pin 2 of connector P1.

[0065] Pin 2 of OP3 is connected to PB4 through resistor R11. Pins 6 and 7 of OP3 are connected to the gate of IRFP260NPB tube Q3. The source of Q3 is connected to GND and pin 5 of OP3 respectively. The drain of Q3 is connected to pin 3 of connector P1.

[0066] Pin 2 of OP5 is connected to PB5 through resistor R21. Pins 6 and 7 of OP5 are connected to the gate of IRFP260NPB tube Q5. The source of Q5 is connected to GND and pin 5 of OP5 respectively. The drain of Q5 is connected to pin 4 of connector P1.

[0067] Pin 2 of OP7 is connected to PB6 through resistor R31, pins 6 and 7 of OP7 are connected to the gate of IRFP260NPB tube Q7, the source of Q7 is connected to GND and pin 5 of OP7 respectively, and the drain of Q7 is connected to pin 5 of connector P1.

[0068] The drains of Q1, Q3, Q5, and Q7 are connected to the black wire, green wire, red wire, and blue wire of the first 86BYGH80 motor respectively.

[0069] The second stepper motor drive circuit includes TLP250 chips OP2, OP4, OP6, and OP8. Pin 2 of OP2 is connected to PB12 through resistor R2. Pins 6 and 7 of OP2 are connected to the gate of IRFP260NPB tube Q2. The source of Q2 is connected to GND and pin 5 of OP2 respectively. The drain of Q2 is connected to pin 2 of connector P2.

[0070] Pin 2 of OP4 is connected to PB13 through resistor R12. Pins 6 and 7 of OP4 are connected to the gate of IRFP260NPB tube Q4. The source of Q4 is connected to GND and pin 5 of OP4 respectively. The drain of Q4 is connected to pin 3 of connector P2.

[0071] Pin 2 of OP6 is connected to PB14 through resistor R22. Pins 6 and 7 of OP6 are connected to the gate of IRFP260NPB tube Q6. The source of Q6 is connected to GND and pin 5 of OP6 respectively. The drain of Q6 is connected to pin 4 of connector P2.

[0072] Pin 2 of OP8 is connected to PB15 through resistor R32, pins 6 and 7 of OP8 are connected to the gate of IRFP260NPB tube Q8, the source of Q8 is connected to GND and pin 5 of OP8 respectively, and the drain of Q8 is connected to pin 5 of connector P2.

[0073] The drains of Q2, Q4, Q6, and Q8 are connected to the black wire, green wire, red wire, and blue wire of the second 86BYGH80 motor respectively.

[0074] The third stepper motor drive circuit includes TLP250 chips OP11, OP12, OP13, and OP14. Pin 2 of OP11 is connected to PG12 via resistor R54. Pins 6 and 7 of OP11 are connected to the gate of IRFP260NPB tube Q10. The source of Q10 is connected to GND and pin 5 of OP11 respectively. The drain of Q10 is connected to pin 2 of connector P5.

[0075] Pin 2 of OP12 is connected to PG13 through resistor R59. Pins 6 and 7 of OP12 are connected to the gate of IRFP560NPB tube Q11. The source of Q11 is connected to GND and pin 5 of OP12 respectively. The drain of Q11 is connected to pin 3 of connector P5.

[0076] Pin 2 of OP13 is connected to PG14 through resistor R64. Pins 6 and 7 of OP13 are connected to the gate of IRFP560NPB tube Q12. The source of Q12 is connected to GND and pin 5 of OP13 respectively. The drain of Q12 is connected to pin 4 of connector P5.

[0077] Pin 2 of OP14 is connected to PG15 through resistor R69, pins 6 and 7 of OP14 are connected to the gate of IRFP560NPB tube Q13, the source of Q13 is connected to GND and pin 5 of OP14 respectively, and the drain of Q13 is connected to pin 5 of connector P5.

[0078] The drains of Q10, Q11, Q12 and Q13 are connected to the black wire, green wire, red wire and blue wire of the third 86BYGH80 motor respectively.

[0079] The heating control circuit includes an EL357 chip OP9, the anode of the input end of OP9 is connected to +3.3V, the cathode of the input end of OP9 is connected to PA8, the collector of the output end of OP9 is connected to +12V2, the emitter of the output end of OP9 is connected to the base of the NPN transistor Q9, the emitter of Q9 is connected to GND, the collector of Q9 is connected to one end of the control end of the relay KM1, and the other end of the control end of KM1 is connected to +12V2; one end of the controlled end of KM1 is respectively connected to AC_L and one end of the controlled end of the relay KM2, and the other end of the controlled end of KM2 is connected to AC_N through the heating wire R47 (the heating wire can be CR25NI20 heating wire); the other end of the controlled end of KM1 is connected to AC_N through the control end of KM2.

[0080] The heating wire is used to heat the motor to prevent low temperature failure. All three motors can be equipped with heating wires. The heating wires and the sensors of the temperature detection circuit can be installed on the motor housing.

[0081] Since low temperature will affect the operation of the motor, AC_L is heated through the CR25NI20 heating wire via the normally closed point of KM2, and the temperature is detected by the temperature detection circuit. When the temperature reaches the set value, U1 controls KM1 to operate, so that KM2 is attracted, the normally closed end of KM2 is disconnected, and heating is stopped. KM2 can use an AC contactor with a power greater than KM1, and KM1 does not directly drive heating.

[0082] The temperature detection circuit includes an STH31 chip U3, with pin 1 of U3 connected to PA6 and pin 4 of U3 connected to PA7. U3 is used to detect the motor temperature and control whether the heating wire is heated.

[0083] The circuit board of the control part of the present invention may not be arranged on Figure 1 In the structure shown, the circuit board can be set elsewhere to transmit the detection and control signals through cables.

[0084] The power supply circuit includes an S-500-48 power supply POW1, a GPA40B-15 power supply POW2, a GPA40B-05 power supply POW3 and an AMS1117-3.3 chip U4. The input terminals of POW1 are connected to AC_L and AC_N, and the output terminals of POW1 are connected to 48V. The input terminals of POW2 are connected to AC_L and AC_N, and the output terminals of POW2 are connected to +15V. The input terminals of POW2 are connected to AC_L and AC_N, and the output terminals of POW2 are connected to +5V. Pin 3 of U4 is connected to +5V, and pin 2 of U4 is connected to +3.3V.

[0085] It also includes a motor operation reset button S1, an emergency stop switch S2, an EL357N(B)(TA)-G chip OP10 and an EL357N(B)(TA)-G chip OP20. One end of S1 is connected to +3.3V and the other end of S1 is connected to PA1; one end of S2 is connected to +3.3V and the other end of S2 is connected to PA2; the anode of the OP10 input is connected to DORP_KEY_INSIDE1 through the light-emitting diode E1, the cathode of the OP10 input is connected to GND, the collector of the OP10 output is connected to +3.3V, and the emitter of the OP10 output is connected to PA3; the anode of the OP20 input is connected to DORP_KEY_INSIDE2 through the light-emitting diode E2, the cathode of the OP20 input is connected to GND, the collector of the OP20 output is connected to +3.3V, and the emitter of the OP10 output is connected to PC13.

[0086] DORP_KEY_INSIDE1 and DORP_KEY_INSIDE2 are connected to the limit switches for detecting the initial position of the first motor and the second motor respectively. Each time the power is turned on, the motor returns to the initial limit.

[0087] S2 is used to control the emergency stop of the first motor and the second motor.

[0088] E1 and E2 are used for position indication.

[0089] After the gripper grasps the sample tube, it moves to a dedicated scanning area to scan the QR code on the bottom of the tube. Simultaneously, a laser identifies whether the sample tube has been successfully grasped. If unsuccessful (the QR code is not scanned), the gripper returns to its previous position and attempts to grasp the tube again. If successful (the QR code is scanned), the sample tube is placed in the designated location after scanning the code.

[0090] The working process of the present invention will be described below with reference to the accompanying drawings.

[0091] When the outer sleeve moves over the target sample tube, the gripper moves vertically downward. When the sample tube cap striker contacts the sample tube, the reaction force of the downward pressure pushes the internal striker upward, simultaneously driving the umbrella-shaped cap claw to expand outward, locking the sample tube cap and compressing the internal striker spring. When the internal striker reaches its maximum position, the upper end of the internal striker is caught by an internal catch, preventing it from falling out and releasing the sample tube. The robotic arm then moves the sample tube to the designated location and slowly descends to a certain height. The bevel gear motor is then activated, rotating the bevel gear on the rotary control lever, which in turn drives the rotary catch release mechanism, which rotates and squeezes the catch, releasing the top of the internal striker. The compressed spring expands, pushing the internal striker away from the catch, causing the internal striker to expand outward, pulling the umbrella-shaped cap claw straight, thereby releasing the sample tube cap and ejecting it, releasing the sample tube and allowing it to fall into its desired location.

[0092] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the scope of protection of the present invention.

Claims

1. A single tube grabbing control system in a deep-low temperature cold chain environment, comprising a processor circuit, a first stepper motor drive circuit, a second stepper motor drive circuit, a third stepper motor drive circuit, a heating control circuit, a temperature detection circuit, and a power supply circuit, characterized in that The signal transmission port of the processor circuit is respectively connected to the signal transmission port of the first stepper motor drive circuit, the signal transmission port of the second stepper motor drive circuit, the signal transmission port of the third stepper motor drive circuit, the signal transmission port of the heating control circuit, and the signal transmission port of the temperature detection circuit; the power output port of the power supply circuit is respectively connected to the power port of the processor circuit, the power port of the first stepper motor drive circuit, the power port of the second stepper motor drive circuit, the power port of the third stepper motor drive circuit, the power port of the heating control circuit, and the power port of the temperature detection circuit; The single-tube grabbing control system for cryogenic cold chain environments is used for single-tube grabbing devices in cryogenic cold chain environments. The single-tube grabbing device includes an outer sleeve with a rotating control lever located at the upper portion of the outer sleeve. The upper end of the rotating control lever extends out of the outer sleeve and is connected to an umbrella gear. The lower end of the rotating control lever is provided with a grab hook and a rotating grab hook release device. The lower end of the rotating grab hook release device is provided with a connecting frame within the grab hook. The connecting frame is provided with a striker spring and a striker within the frame. The striker within the frame is located at the lower end of the striker spring. The lower end of the grab hook is provided with a built-in striker in the claw head, the upper end of the built-in striker in the claw head is placed in the grab hook and connected to the striker in the frame, the lower end of the built-in striker in the claw head extends out of the outer sleeve and is connected to the pipe cap striker head, the upper end of the pipe cap striker head is axially connected to the lower end of the umbrella-shaped pipe cap claw head, and the upper end of the umbrella-shaped pipe cap claw head is axially connected to the lower end of the outer sleeve; The umbrella-shaped pipe cap claw head includes an upper connecting rod and a lower connecting rod, wherein the upper end of the upper connecting rod is axially connected to the lower end of the outer sleeve, the lower end of the upper connecting rod is axially connected to the upper end of the lower connecting rod, and the lower end of the lower connecting rod is axially connected to the pipe cap striker head; the upper connecting rod and the lower connecting rod are combined into multiple groups, which are evenly distributed along the circumferential direction; The front end of the outer sleeve is provided with an upper connecting rod groove corresponding to the upper connecting rod; The grab hook is connected to the inner wall of the outer sleeve through a grab hook bracket, the grab hook includes a left grab hook and a right grab hook, the grab hook bracket includes a left grab hook bracket and a right grab hook bracket, the left grab hook bracket and the right grab hook bracket include two connecting frames on both sides, the rear ends of the two connecting frames are connected to the inner wall of the outer sleeve, the front ends of the two connecting frames are connected through an arc-shaped connecting frame, the upper end of the left grab hook is connected to the middle rear end of the left arc-shaped connecting frame, and the upper end of the right grab hook is connected to the middle rear end of the right arc-shaped connecting frame, and the rotating control rod passes through the area surrounded by the inner sides of the left and right arc-shaped connecting frames; The lower end of the grab hook is bent inward, and the upper end of the built-in striker of the claw head extends outward, and the lower end surface of the extension portion serves as an interaction surface with the upper end of the bent portion of the lower end of the grab hook; The cross section of the rotary hook release device is a transverse S-shape, and the center of the rotary hook release device is connected to the center of the connecting frame.

2. According to claim 1, the single-tube grabbing control system in a deep-low temperature cold chain environment is characterized in that The processor circuit includes an STM32F103ZET6 chip U1, wherein pins 133 to 136 of U1 are connected to PB3 to PB6 respectively, and pins 73 to 76 of U1 are connected to PB12 to PB15 respectively; pin 100 of U1 is connected to PA8; pins 99, 111, and 112 of U1 are connected to PC9, PC10, and PC11 respectively; pins 42 and 43 of U1 are connected to PA6 and PA7 respectively; pins 35 to 37 and 7 of U1 are connected to PA1, PA2, PA3, and PC13 respectively; and pins 127 to 129 and 132 of U1 are connected to PG12, PG13, PG14, and PG15 respectively.

3. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that The first stepper motor drive circuit includes TLP250 chips OP1, OP3, OP5, and OP7. Pin 2 of OP1 is connected to PB3 via resistor R1. Pins 6 and 7 of OP1 are connected to the gate of IRFP260NPB tube Q1. The source of Q1 is connected to GND and pin 5 of OP1 respectively. The drain of Q1 is connected to pin 2 of connector P1. Pin 2 of OP3 is connected to PB4 through resistor R11. Pins 6 and 7 of OP3 are connected to the gate of IRFP260NPB tube Q3. The source of Q3 is connected to GND and pin 5 of OP3 respectively. The drain of Q3 is connected to pin 3 of connector P1. Pin 2 of OP5 is connected to PB5 through resistor R21. Pins 6 and 7 of OP5 are connected to the gate of IRFP260NPB tube Q5. The source of Q5 is connected to GND and pin 5 of OP5 respectively. The drain of Q5 is connected to pin 4 of connector P1. Pin 2 of OP7 is connected to PB6 through resistor R31, pins 6 and 7 of OP7 are connected to the gate of IRFP260NPB tube Q7, the source of Q7 is connected to GND and pin 5 of OP7 respectively, and the drain of Q7 is connected to pin 5 of connector P1.

4. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that The second stepper motor drive circuit includes TLP250 chips OP2, OP4, OP6, and OP8. Pin 2 of OP2 is connected to PB12 through resistor R2. Pins 6 and 7 of OP2 are connected to the gate of IRFP260NPB tube Q2. The source of Q2 is connected to GND and pin 5 of OP2 respectively. The drain of Q2 is connected to pin 2 of connector P2. Pin 2 of OP4 is connected to PB13 through resistor R12. Pins 6 and 7 of OP4 are connected to the gate of IRFP260NPB tube Q4. The source of Q4 is connected to GND and pin 5 of OP4 respectively. The drain of Q4 is connected to pin 3 of connector P2. Pin 2 of OP6 is connected to PB14 through resistor R22. Pins 6 and 7 of OP6 are connected to the gate of IRFP260NPB tube Q6. The source of Q6 is connected to GND and pin 5 of OP6 respectively. The drain of Q6 is connected to pin 4 of connector P2. Pin 2 of OP8 is connected to PB15 through resistor R32, pins 6 and 7 of OP8 are connected to the gate of IRFP260NPB tube Q8, the source of Q8 is connected to GND and pin 5 of OP8 respectively, and the drain of Q8 is connected to pin 5 of connector P2.

5. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that The third stepper motor drive circuit includes TLP250 chips OP11, OP12, OP13, and OP14. Pin 2 of OP11 is connected to PG12 via resistor R54. Pins 6 and 7 of OP11 are connected to the gate of IRFP260NPB tube Q10. The source of Q10 is connected to GND and pin 5 of OP11 respectively. The drain of Q10 is connected to pin 2 of connector P5. Pin 2 of OP12 is connected to PG13 through resistor R59. Pins 6 and 7 of OP12 are connected to the gate of IRFP560NPB tube Q11. The source of Q11 is connected to GND and pin 5 of OP12 respectively. The drain of Q11 is connected to pin 3 of connector P5. Pin 2 of OP13 is connected to PG14 through resistor R64. Pins 6 and 7 of OP13 are connected to the gate of IRFP560NPB tube Q12. The source of Q12 is connected to GND and pin 5 of OP13 respectively. The drain of Q12 is connected to pin 4 of connector P5. Pin 2 of OP14 is connected to PG15 through resistor R69, pins 6 and 7 of OP14 are connected to the gate of IRFP560NPB tube Q13, the source of Q13 is connected to GND and pin 5 of OP14 respectively, and the drain of Q13 is connected to pin 5 of connector P5.

6. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that The heating control circuit includes an EL357 chip OP9, the anode of the input end of OP9 is connected to +3.3V, the cathode of the input end of OP9 is connected to PA8, the collector of the output end of OP9 is connected to +12V2, the emitter of the output end of OP9 is connected to the base of the NPN transistor Q9, the emitter of Q9 is connected to GND, the collector of Q9 is connected to one end of the control end of the relay KM1, and the other end of the control end of KM1 is connected to +12V2; one end of the controlled end of KM1 is respectively connected to AC_L and one end of the controlled end of the relay KM2, and the other end of the controlled end of KM2 is connected to AC_N; the other end of the controlled end of KM1 is connected to AC_N through the controlled end of KM2.

7. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that The temperature detection circuit includes an STH31 chip U3, wherein pin 1 of U3 is connected to PA6, and pin 4 of U3 is connected to PA7.

8. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that The power supply circuit includes an S-500-48 power supply POW1, a GPA40B-15 power supply POW2, a GPA40B-05 power supply POW3 and an AMS1117-3.3 chip U4. The input terminals of POW1 are connected to AC_L and AC_N, and the output terminals of POW1 are connected to 48V. The input terminals of POW2 are connected to AC_L and AC_N, and the output terminals of POW2 are connected to +15V. The input terminals of POW3 are connected to AC_L and AC_N, and the output terminals of POW3 are connected to +5V. Pin 3 of U4 is connected to +5V, and pin 2 of U4 is connected to +3.3V.

9. The single-tube grabbing control system in a deep-low temperature cold chain environment according to claim 1 is characterized in that It also includes a motor operation reset button S1, an emergency stop switch S2, an EL357N(B)(TA)-G chip OP10 and an EL357N(B)(TA)-G chip OP20. One end of S1 is connected to +3.3V and the other end of S1 is connected to PA1; one end of S2 is connected to +3.3V and the other end of S2 is connected to PA2; the anode of the OP10 input is connected to DORP_KEY_INSIDE1 through the light-emitting diode E1, the cathode of the OP10 input is connected to GND, the collector of the OP10 output is connected to +3.3V, and the emitter of the OP10 output is connected to PA3; the anode of the OP20 input is connected to DORP_KEY_INSIDE2 through the light-emitting diode E2, the cathode of the OP20 input is connected to GND, the collector of the OP20 output is connected to +3.3V, and the emitter of the OP20 output is connected to PC13.

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