A single-tube grasping device in a deep cryogenic cold chain environment

Abstract

A single-tube grasping device in a cryogenic cold chain environment belongs to the technical field of single-tube grasping, and particularly relates to a single-tube grasping device in a cryogenic cold chain environment. The present invention provides a single-tube grasping device in a cryogenic cold chain environment with good use effect. The present invention includes an outer sleeve, characterized in that a rotation control rod is arranged in the upper part of the outer sleeve, the upper end of the rotation control rod extends out of the outer sleeve and is connected with a bevel gear, the lower end of the rotation control rod is provided with a hook and a rotation hook release device, a connection frame is arranged in the hook at the lower end of the rotation hook release device, a striker spring and a striker are arranged in the connection frame, and the striker is arranged at the lower end of the striker spring; a claw head built-in striker is arranged at the lower end of the hook, the upper end of the claw head built-in striker is placed in the hook and is connected with the striker, the lower end of the claw head built-in striker extends out of the outer sleeve and is connected with a tube cap striker head, the upper end of the tube cap striker head is pivotally connected to the lower end of an umbrella-bone type tube cap claw head, and the upper end of the umbrella-bone type tube cap claw head is pivotally connected to the lower end of the outer sleeve.

Description

Technical Field

[0001] The present invention belongs to the technical field of single-tube grasping, and particularly relates to a single-tube grasping device in a deep cryogenic cold chain environment. Background Art

[0002] There are two types of existing sample tube grasping technologies. The first is to grasp from the outside of the sample tube cap, and some manufacturers are currently using this method, which is mostly seen in storage systems that store and retrieve in the form of SBS plate racks. The second is to grasp from the inside of the sample tube cap. Due to the concave structure design in the middle of the sample tube cap, this grasping method has become the mainstream grasping method.

[0003] In the existing sample tube grasping technologies, the first method of grasping from the outside of the sample tube cap has great limitations in space. When grasping, it is easy to hit the surrounding sample tubes, resulting in impacts and the possibility of damaging the samples. The second method of grasping from the inside of the sample tube cap often has accidents such as tube jamming or tube dropping, and manual intervention is required to avoid sample loss. Moreover, if the claw head is slightly worn, it cannot grasp normally. Summary of the Invention

[0004] The present invention aims at the above problems and provides a single-tube grasping device in a deep cryogenic cold chain environment with good use effects.

[0005] To achieve the above object, the present invention adopts the following technical solutions. The present invention includes an outer sleeve. It is characterized in that a rotation control rod is arranged in the upper part of the outer sleeve. The upper end of the rotation control rod extends out of the outer sleeve and is connected with a bevel gear. The lower end of the rotation control rod is provided with a grab hook and a rotation grab hook release device. A connecting frame is arranged in the grab hook at the lower end of the rotation grab hook release device. A striker spring and a striker are arranged in the connecting frame. The striker is arranged at the lower end of the striker spring;

[0006] A claw head built-in striker is arranged at the lower end of the grab hook. The upper end of the claw head built-in striker is placed in the grab hook and is in contact with the striker. The lower end of the claw head built-in striker extends out of the outer sleeve and is connected with a tube cap striker head. The upper end of the tube cap striker head is pivotally connected to the lower end of a ribbed umbrella-type tube cap claw head. The upper end of the ribbed umbrella-type tube cap claw head is pivotally connected to the lower end of the outer sleeve.

[0007] As a preferred solution, the ribbed umbrella-type tube cap claw head of the present invention includes an upper connecting rod and a lower connecting rod. The upper end of the upper connecting rod is pivotally connected to the lower end of the outer sleeve. The lower end of the upper connecting rod is pivotally connected to the upper end of the lower connecting rod. The lower end of the lower connecting rod is pivotally connected to the tube cap striker head. The combination of the upper connecting rod and the lower connecting rod is multiple groups and is evenly distributed in the circumferential direction.

[0008] As a preferred solution, an upper connecting rod groove is arranged at the front end of the outer sleeve corresponding to the upper connecting rod.

[0009] As a preferred solution, a guide sleeve is provided inside the lower end of the outer sleeve of the present invention, and the built-in striker of the claw head passes through the guide sleeve. The guide sleeve prevents the striker from tilting.

[0010] As a preferred solution, the joint between the upper connecting rod and the lower connecting rod of the present invention adopts an arc-shaped frosted surface structure.

[0011] As a preferred solution, the hook of the present invention is connected to the inner wall of the outer sleeve through a hook bracket. The hook includes a left hook and a right hook. The hook bracket includes a left hook bracket and a right hook bracket. The left hook bracket and the right hook bracket include connecting frames on both sides. The rear ends of the connecting frames on both sides are connected to the inner wall of the outer sleeve, and the front ends of the connecting frames on both sides are connected by an arc-shaped connecting frame. The upper end of the left hook is connected to the rear end of the middle part of the left arc-shaped connecting frame, and the upper end of the right hook is connected to the rear end of the middle part of the right arc-shaped connecting frame. The rotation control rod passes through the area enclosed by the inner sides of the left and right arc-shaped connecting frames.

[0012] As another preferred solution, the umbrella bone type cap claw head of the present invention is a regular hexagon. The center of the regular hexagon is connected to the lower end of the built-in striker of the claw head. The width of the regular hexagon is greater than the width of the built-in striker of the claw head. Each side of the regular hexagon corresponds to a combination of an upper connecting rod and a lower connecting rod.

[0013] As another preferred solution, the lower end of the hook is bent inward, and the upper end of the built-in striker of the claw head extends peripherally. The lower end surface of the extension part and the upper end of the bent part of the lower end of the hook are interaction surfaces.

[0014] As another preferred solution, the cross-section of the rotary hook release device of the present invention is a horizontal S shape, and the center of the rotary hook release device is connected to the center of the connecting frame.

[0015] As another preferred solution, the striker and the rotary hook release device of the present invention are made of polyphenylene ether parts.

[0016] As another preferred solution, the present invention further includes a control section, which includes a processor circuit, a first stepping motor drive circuit for driving the outer sleeve to move horizontally, a second stepping motor drive circuit for driving the outer sleeve to move vertically, a third stepping motor drive circuit for driving the bevel gear to rotate, a heating control circuit for heating the motor, a temperature detection circuit for detecting the motor temperature, and a power supply circuit. The signal transmission ports of the processor circuit are respectively connected to the signal transmission ports of the first stepping motor drive circuit, the second stepping motor drive circuit, the third stepping motor drive circuit, the heating control circuit, and the temperature detection circuit. The power output ports of the power supply circuit are respectively connected to the power ports of the processor circuit, the first stepping motor drive circuit, the second stepping motor drive circuit, the third stepping motor drive circuit, the heating control circuit, and the temperature detection circuit.

[0017] As another preferred solution, the processor circuit of the present invention includes an STM32F103ZET6 chip U1. The 133-136 pins of U1 are respectively connected to PB3-PB6 correspondingly. The 73-76 pins of U1 are respectively connected to PB12-PB15 correspondingly. The 100th pin of U1 is connected to PA8. The 99th, 111th, and 112th pins of U1 are respectively connected to PC9, PC10, and PC11 correspondingly. The 42nd and 43rd pins of U1 are respectively connected to PA6 and PA7 correspondingly. The 35-37th and 7th pins of U1 are respectively connected to PA1, PA2, PA3, and PC13 correspondingly. The 127-129th and 132nd pins of U1 are respectively connected to PG12, PG13, PG14, and PG15 correspondingly.

[0018] As another preferred solution, the first stepping motor drive circuit of the present invention includes TLP250 chips OP1, OP3, OP5, and OP7. The 2nd pin of OP1 is connected to PB3 through a resistor R1. The 6th and 7th pins of OP1 are connected to the gate of an IRFP260NPB transistor Q1. The source of Q1 is respectively connected to GND and the 5th pin of OP1. The drain of Q1 is connected to the 2nd pin of a connector P1.

[0019] The 2nd pin of OP3 is connected to PB4 through a resistor R11. The 6th and 7th pins of OP3 are connected to the gate of an IRFP260NPB transistor Q3. The source of Q3 is respectively connected to GND and the 5th pin of OP3. The drain of Q3 is connected to the 3rd pin of the connector P1.

[0020] The second pin of OP5 is connected to PB5 through a resistor R21. The 6th and 7th pins of OP5 are connected to the gate of an IRFP260NPB transistor Q5. The source of Q5 is respectively connected to GND and the 5th pin of OP5. The drain of Q5 is connected to the 4th pin of the connector P1.

[0021] Pin 2 of OP7 is connected to PB6 through resistor R31. Pins 6 and 7 of OP7 are connected to the gate of IRFP260NPB transistor Q7. The source of Q7 is connected to GND and pin 5 of OP7 respectively. The drain of Q7 is connected to pin 5 of connector P1.

[0022] As another preferred solution, the second stepping motor drive circuit of the present invention 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 transistor 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;

[0023] Pin 2 of OP4 is connected to PB13 through resistor R12. Pins 6 and 7 of OP4 are connected to the gate of IRFP260NPB transistor 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;

[0024] Pin 2 of OP6 is connected to PB14 through resistor R22. Pins 6 and 7 of OP6 are connected to the gate of IRFP260NPB transistor 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;

[0025] Pin 2 of OP8 is connected to PB15 through resistor R32. Pins 6 and 7 of OP8 are connected to the gate of IRFP260NPB transistor Q8. The source of Q8 is connected to GND and pin 5 of OP8 respectively. The drain of Q8 is connected to pin 5 of connector P2.

[0026] As another preferred solution, the third stepping motor drive circuit of the present invention includes TLP250 chips OP11, OP12, OP13, and OP14. Pin 2 of OP11 is connected to PG12 through resistor R54. Pins 6 and 7 of OP11 are connected to the gate of IRFP260NPB transistor 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;

[0027] Pin 2 of OP12 is connected to PG13 through resistor R59. Pins 6 and 7 of OP12 are connected to the gate of IRFP560NPB transistor 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;

[0028] Pin 2 of OP13 is connected to PG14 through resistor R64. Pins 6 and 7 of OP13 are connected to the gate of IRFP560NPB transistor 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;

[0029] Pin 2 of OP14 is connected to PG15 through resistor R69. Pins 6 and 7 of OP14 are connected to the gate of IRFP560NPB transistor Q13. The source of Q13 is respectively connected to GND and pin 5 of OP14. The drain of Q13 is connected to pin 5 of connector P5.

[0030] As another preferred solution, the heating control circuit of the present invention includes EL357 chip OP9. The anode of the input terminal of OP9 is connected to +3.3V, the cathode of the input terminal of OP9 is connected to PA8, the collector of the output terminal of OP9 is connected to +12V2, the emitter of the output terminal of OP9 is connected to the base of NPN transistor Q9. The emitter of Q9 is connected to GND, and the collector of Q9 is connected to one end of the control terminal of relay KM1. The other end of the control terminal of KM1 is connected to +12V2; One end of the controlled terminal of KM1 is respectively connected to AC_L and one end of the controlled terminal of relay KM2. The other end of the controlled terminal of KM2 is connected to AC_N; The other end of the controlled terminal of KM1 is connected to AC_N through the control terminal of KM2.

[0031] As another preferred solution, the temperature detection circuit of the present invention includes STH31 chip U3. Pin 1 of U3 is connected to PA6, and pin 4 of U3 is connected to PA7.

[0032] Secondly, the power supply circuit of the present invention includes S-500-48 power supply POW1, GPA40B-15 power supply POW2, GPA40B-05 power supply POW3 and AMS1117-3.3 chip U4. The input terminal of POW1 is connected to AC_L and AC_N, the output terminal of POW1 is connected to 48V, the input terminal of POW2 is connected to AC_L and AC_N, 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.

[0033] In addition, the present invention further includes motor operation reset button S1, emergency stop switch S2, EL357N(B)(TA)-G chip OP10 and 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 input terminal of OP10 is connected to DORP_KEY_INSIDE1 through light-emitting diode E1, the cathode of the input terminal of OP10 is connected to GND, the collector of the output terminal of OP10 is connected to +3.3V, and the emitter of the output terminal of OP10 is connected to PA3; The anode of the input terminal of OP20 is connected to DORP_KEY_INSIDE2 through light-emitting diode E2, the cathode of the input terminal of OP20 is connected to GND, the collector of the output terminal of OP20 is connected to +3.3V, and the emitter of the output terminal of OP10 is connected to PC13.

[0034] Advantages of the present invention.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The present invention grabs the sample tube by clamping the cap from inside the sample tube cap, which can avoid collision with other samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] Figure 1 It is a structural schematic diagram of the present invention.

[0042] Figure 2 It is a structural schematic diagram of the firing pin of the present invention in an ejected state.

[0043] Figure 3 It is a cross-sectional view of the rotary grapple release device of the present invention.

[0044] Figure 4 It is a three-dimensional appearance diagram of the present invention.

[0045] Figure 5 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).

[0046] Figure 6 and 7 is a schematic diagram of the sample tube cap structure of the present invention.

[0047] Figure 8 is a schematic circuit diagram of the processor of the present invention.

[0048] Figure 9 is a schematic circuit diagram of the stepping motor drive of the present invention.

[0049] Figure 10 is a schematic circuit diagram of the heating control of the present invention.

[0050] Figure 11 is a schematic circuit diagram of the temperature detection of the present invention.

[0051] Figure 12 is a schematic circuit diagram of the power supply of the present invention.

[0052] Figure 13 is Figure 4 a partial enlarged view of.

[0053] In the figure, 1 is the tube cap hitting needle, 2 is the lower connecting rod, 3 is the upper connecting rod, 4 is the outer sleeve, ५ is the connecting frame, 6 is the hook, 7 is the rotary hook release device, 8 is the rotary control rod, 9 is the bevel gear, 10 is the hitting needle spring, 11 is the hitting needle, 12 is the built-in hitting needle in 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 implementation manners

[0054] As shown in the figure, the present invention includes an outer sleeve. A rotary control rod is arranged in the upper part of the outer sleeve. The upper end of the rotary control rod extends out of the outer sleeve and is connected with a bevel gear. The lower end of the rotary control rod is provided with a hook and a rotary hook release device. A connecting frame is arranged in the hook at the lower end of the rotary hook release device. A hitting needle spring and a hitting needle are arranged in the connecting frame. The hitting needle is arranged at the lower end of the hitting needle spring;

[0055] A built-in hitting needle in the claw head is arranged at the lower end of the hook. The upper end of the built-in hitting needle in the claw head is placed in the hook and is connected with the hitting needle. The lower end of the built-in hitting needle in the claw head extends out of the outer sleeve and is connected with a tube cap hitting needle. The upper end of the tube cap hitting needle is pivotally connected to the lower end of the umbrella-bone type tube cap claw head. The upper end of the umbrella-bone type tube cap claw head is pivotally connected to the lower end of the outer sleeve.

[0056] The umbrella-bone type tube cap claw head includes an upper connecting rod and a lower connecting rod. The upper end of the upper connecting rod is pivotally connected to the lower end of the outer sleeve. The lower end of the upper connecting rod is pivotally connected to the upper end of the lower connecting rod. The lower end of the lower connecting rod is pivotally connected to the tube cap hitting needle. The combination of the upper connecting rod and the lower connecting rod is multiple groups and is evenly distributed in the circumferential direction.

[0057] The front end of the outer sleeve is provided with an upper connecting rod groove corresponding to the upper connecting rod.

[0058] 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.

[0059] The axial connection between the upper connecting rod and the lower connecting rod adopts an arc-shaped frosted surface structure.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] The firing pin and the rotary hook release device can be made of polyphenylene ether parts. Polyphenylene ether (PPO) parts perform well in low-temperature environments and reduce wear caused by friction with metal fittings. We tested various materials such as low-temperature copper alloy, low-temperature aluminum alloy, low-temperature stainless steel, PE, PP, and PPO. It was found that the firing pins and rotary hook release devices made of metal materials showed corresponding degrees of wear after 5000 uses. Moreover, there was obvious wear at the hook position, and it was no longer able to hook the top of the firing pin inside the claw head, and it would adhere to other metal parts. During the use process, the PE and PP materials suffered from varying degrees of fracture and breakage, while the PPO material had much less wear compared to other materials during the testing process. The firing pins made of PE and PP materials cracked in the middle at around 4400 times and could no longer be used normally; while the PPO material fractured at an average of around 6830 times and could no longer be used normally.

[0067] When selecting the firing pin spring, we tested springs made of carbon steel, cold-drawn 18 / 8 austenitic 304 stainless steel, copper alloy, and nickel alloy. Among them, carbon steel is prone to cold brittleness in low-temperature environments and cannot be used normally. The cold-drawn 18 / 8 austenitic 304 stainless steel has high tensile strength and almost no change in impact value at various sub-zero temperatures. The performance of copper alloy and nickel alloy in low-temperature environments is almost the same as that of 304 stainless steel, but due to their high prices, their cost performance is too low compared to 304 stainless steel. Therefore, cold-drawn 18 / 8 austenitic 304 stainless steel is used as the firing pin spring.

[0068] It also includes a control part, which includes a processor circuit, a first stepping motor drive circuit, a second stepping motor drive circuit, a third stepping motor drive circuit, a heating control circuit, a temperature detection circuit, and a power supply circuit. The signal transmission ports of the processor circuit are respectively connected to the signal transmission ports of the first stepping motor drive circuit, the second stepping motor drive circuit, the third stepping motor drive circuit, the heating control circuit, and the temperature detection circuit. The power output ports of the power supply circuit are respectively connected to the power ports of the processor circuit, the first stepping motor drive circuit, the second stepping motor drive circuit, the third stepping motor drive circuit, the heating control circuit, and the temperature detection circuit.

[0069] The first stepping motor is used to drive the outer sleeve 4 to move horizontally, the second stepping motor is used to drive the outer sleeve 4 to move vertically, and the third stepping motor is used to drive the bevel gear 9 to rotate. The horizontal and vertical movement of the outer sleeve 4 can be achieved by means of motor-driven gears and linear modules.

[0070] The processor circuit includes an STM32F103ZET6 chip U1. Pins 133 to 136 of U1 are respectively connected to PB3 to PB6 correspondingly. Pins 73 to 76 of U1 are respectively connected to PB12 to PB15 correspondingly. Pin 100 of U1 is connected to PA8. Pins 99, 111, and 112 of U1 are respectively connected to PC9, PC10, and PC11 correspondingly. Pins 42 and 43 of U1 are respectively connected to PA6 and PA7 correspondingly. Pins 35 to 37 and 7 of U1 are respectively connected to PA1, PA2, PA3, and PC13 correspondingly. Pins 127 to 129 and 132 of U1 are respectively connected to PG12, PG13, PG14, and PG15 correspondingly.

[0071] The first stepping motor drive circuit includes TLP250 chips OP1, OP3, OP5, and OP7. Pin 2 of OP1 is connected to PB3 through resistor R1. Pins 6 and 7 of OP1 are connected to the gate of IRFP260NPB transistor Q1. The source of Q1 is respectively connected to GND and pin 5 of OP1. The drain of Q1 is connected to pin 2 of connector P1.

[0072] Pin 2 of OP3 is connected to PB4 through resistor R11. Pins 6 and 7 of OP3 are connected to the gate of IRFP260NPB transistor Q3. The source of Q3 is respectively connected to GND and pin 5 of OP3. The drain of Q3 is connected to pin 3 of connector P1.

[0073] Pin 2 of OP5 is connected to PB5 through resistor R21. Pins 6 and 7 of OP5 are connected to the gate of IRFP260NPB transistor Q5. The source of Q5 is respectively connected to GND and pin 5 of OP5. The drain of Q5 is connected to pin 4 of connector P1.

[0074] Pin 2 of OP7 is connected to PB6 through resistor R31. Pins 6 and 7 of OP7 are connected to the gate of IRFP260NPB transistor Q7. The source of Q7 is respectively connected to GND and pin 5 of OP7. The drain of Q7 is connected to pin 5 of connector P1.

[0075] The drains of Q1, Q3, Q5, and Q7 are respectively connected to the black wire, green wire, red wire, and blue wire of the first 86BYGH80 motor.

[0076] The second stepping 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 transistor Q2. The source of Q2 is respectively connected to GND and pin 5 of OP2. The drain of Q2 is connected to pin 2 of connector P2.

[0077] Pin 2 of OP4 is connected to PB13 through resistor R12. Pins 6 and 7 of OP4 are connected to the gate of IRFP260NPB transistor 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.

[0078] Pin 2 of OP6 is connected to PB14 through resistor R22. Pins 6 and 7 of OP6 are connected to the gate of IRFP260NPB transistor 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.

[0079] Pin 2 of OP8 is connected to PB15 through resistor R32. Pins 6 and 7 of OP8 are connected to the gate of IRFP260NPB transistor Q8. The source of Q8 is connected to GND and pin 5 of OP8 respectively. The drain of Q8 is connected to pin 5 of connector P2.

[0080] 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.

[0081] The third stepper motor drive circuit includes TLP250 chips OP11, OP12, OP13, and OP14. Pin 2 of OP11 is connected to PG12 through resistor R54. Pins 6 and 7 of OP11 are connected to the gate of IRFP260NPB transistor 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.

[0082] Pin 2 of OP12 is connected to PG13 through resistor R59. Pins 6 and 7 of OP12 are connected to the gate of IRFP560NPB transistor 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.

[0083] Pin 2 of OP13 is connected to PG14 through resistor R64. Pins 6 and 7 of OP13 are connected to the gate of IRFP560NPB transistor 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.

[0084] Pin 2 of OP14 is connected to PG15 through resistor R69. Pins 6 and 7 of OP14 are connected to the gate of IRFP560NPB transistor Q13. The source of Q13 is connected to GND and pin 5 of OP14 respectively. The drain of Q13 is connected to pin 5 of connector P5.

[0085] 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.

[0086] The heating control circuit includes the EL357 chip OP9. The anode of the input terminal of OP9 is connected to +3.3V, the cathode of the input terminal of OP9 is connected to PA8, the collector of the output terminal of OP9 is connected to +12V2, the emitter of the output terminal 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 terminal of the relay KM1, and the other end of the control terminal of KM1 is connected to +12V2; one end of the controlled terminal of KM1 is respectively connected to AC_L and one end of the controlled terminal of the relay KM2. The other end of the controlled terminal of KM2 is connected to AC_N through the heating wire R47 (the heating wire can adopt the CR25NI20 heating wire); the other end of the controlled terminal of KM1 is connected to AC_N through the control terminal of KM2.

[0087] The heating wire is used to heat the motor to prevent low-temperature faults, and heating wires can be set for all three motors. The heating wire and the sensor of the temperature detection circuit can be set on the motor housing.

[0088] Since low temperature will affect the operation of the motor, AC_L heats through the normally closed point of KM2 and the CR25NI20 heating wire, and the temperature is detected through the temperature detection circuit. When the temperature reaches the set value, U1 controls KM1 to work, causing KM2 to pull in, the normally closed terminal of KM2 to disconnect, and the heating to stop. KM2 can adopt an AC contactor with a power greater than KM1, and KM1 does not directly drive the heating.

[0089] The temperature detection circuit includes the STH31 chip U3. The 1st pin of U3 is connected to PA6, and the 4th pin of U3 is connected to PA7. U3 is used to detect the motor temperature and control whether the heating wire heats.

[0090] The circuit board of the control part of the present invention may not be set on the Figure 1 shown structure body. The circuit board can be set elsewhere, and the detection and control signals are conducted through cables.

[0091] The power supply circuit includes the S-500-48 power supply POW1, the GPA40B-15 power supply POW2, the GPA40B-05 power supply POW3, and the AMS1117-3.3 chip U4. The input terminal of POW1 is connected to AC_L and AC_N, the output terminal of POW1 is connected to 48V, the input terminal of POW2 is connected to AC_L and AC_N, 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; the 3rd pin of U4 is connected to +5V, and the 2nd pin of U4 is connected to +3.3V.

[0092] 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.

[0093] 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.

[0094] S2 is used to control the emergency stop of the first motor and the second motor.

[0095] E1 and E2 are used for position indication.

[0096] 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.

[0097] The working process of the present invention will be described below with reference to the accompanying drawings.

[0098] 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.

[0099] It is understood that the above specific description of the present invention is only for the purpose of illustrating the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those of ordinary skill in the art should understand that the present invention can still be modified or equivalently replaced to achieve the same technical effect; as long as the use requirements are met, they are all within the protection scope of the present invention.

Claims

1. A single-tube grasping device in a cryogenic cold chain environment, including an outer sleeve, characterized in that a rotary control rod is arranged at the upper part inside the outer sleeve. The upper end of the rotary control rod extends out of the outer sleeve and is connected with a bevel gear. The lower end of the rotary control rod is provided with a hook and a rotary hook release device. A connecting frame is arranged inside the hook at the lower end of the rotary hook release device. A striker spring and a striker inside the frame are arranged inside the connecting frame. The striker inside the frame is arranged at the lower end of the striker spring; A striker inside the claw head is arranged at the lower end of the hook. The upper end of the striker inside the claw head is placed inside the hook and is connected with the striker inside the frame. The lower end of the striker inside the claw head extends out of the outer sleeve and is connected with a tube cap striker head. The upper end of the tube cap striker head is pivotally connected to the lower end of the umbrella-bone type tube cap claw head. The upper end of the umbrella-bone type tube cap claw head is pivotally connected to the lower end of the outer sleeve; The umbrella-bone type tube cap claw head includes an upper connecting rod and a lower connecting rod. The upper end of the upper connecting rod is pivotally connected to the lower end of the outer sleeve. The lower end of the upper connecting rod is pivotally connected to the upper end of the lower connecting rod. The lower end of the lower connecting rod is pivotally connected to the tube cap striker head. The combination of the upper connecting rod and the lower connecting rod is multiple groups and is evenly distributed in the circumferential direction; An upper connecting rod groove is arranged at the front end of the outer sleeve corresponding to the upper connecting rod; The hook is connected to the inner wall of the outer sleeve through a hook bracket. The hook includes a left hook and a right hook. The hook bracket includes a left hook bracket and a right hook bracket. The left hook bracket and the right hook bracket include connecting frames on both sides. The rear ends of the connecting frames on both sides are connected to the inner wall of the outer sleeve. The front ends of the connecting frames on both sides are connected through an arc-shaped connecting frame. The upper end of the left hook is connected to the rear end of the middle part of the left arc-shaped connecting frame. The upper end of the right hook is connected to the rear end of the middle part of the right arc-shaped connecting frame. The rotary 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 hook is bent inward, and the upper end of the striker inside the claw head extends peripherally. The lower end surface of the extending part and the upper end of the bent part of the lower end of the hook are interaction surfaces; The cross-section of the rotary hook release device is a horizontal S shape, and the center of the rotary hook release device is connected to the center of the connecting frame.

2. The single-tube grasping device in a cryogenic cold chain environment according to claim 1, wherein A guide sleeve is arranged inside the lower end of the outer sleeve, and the striker inside the claw head passes through the guide sleeve.

3. The single-tube grasping device in a cryogenic cold chain environment according to claim 2, wherein The pivot connection between the upper connecting rod and the lower connecting rod adopts an arc-shaped frosted surface structure.

4. The single-tube grasping device in a cryogenic cold chain environment according to claim 1, wherein The umbrella-bone type tube cap claw head is a regular hexagon. The center of the regular hexagon is connected to the lower end of the striker inside the claw head. The width of the regular hexagon is greater than the width of the striker inside the claw head. Each side of the regular hexagon corresponds to a combination of an upper connecting rod and a lower connecting rod; 5. The single-tube grasping device in a cryogenic cold chain environment according to claim 1, wherein The striker inside the frame and the rotary hook release device are made of polyphenylene ether parts.

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