Biological sample selection device and method

Abstract

The embodiments of the present invention provide a biological sample selection device and method, which relate to the field of sample storage and access in a biological sample library. The purpose is to improve the problem of low efficiency in the transfer of cryopreservation tubes. The biological sample selection device includes a selection platform, a first positioning frame, a first driving mechanism, a second positioning frame, a second driving mechanism, and an electric clamp; the first driving mechanism is used to drive the second positioning frame to move to the bottom of the first positioning frame along a preset direction; the second driving mechanism is used to drive the electric clamp to move to the bottom of the target cryopreservation box, or the second driving mechanism is used to drive the electric clamp to move to the top of an empty cryopreservation box. The biological sample selection method is implemented using the above-mentioned device. The target cryopreservation tube on the upper target cryopreservation box is directly taken out by using the electric clamp and directly placed in the empty cryopreservation box below, which saves the time of moving between the empty cryopreservation box and the target cryopreservation box, can greatly shorten the transfer time, and thus improve the picking efficiency.

Description

Technical Field

[0001] The present invention relates to the field of sample storage and access in a biological sample library, and in particular to a biological sample selection device and method. Background Art

[0002] A biological sample bank is a large-scale storage facility that stores samples in cryogenic storage refrigerators by category through cryogenic tubes and cryogenic boxes, and uses automated mechanical equipment for storage and access. The automated mechanical mechanism includes a cryogenic tube transfer and gripping mechanism that can grip the cryogenic tubes in the cryogenic boxes in the low-temperature refrigerators in the storage area.

[0003] However, the existing tube picking and transfer mode is that the clamping mechanism clamps a target cryotube in the target cryobox, then moves horizontally to the top of the empty cryobox, puts the target cryotube into the empty cryobox, and then moves horizontally back to the top of the target cryobox to continue picking the next target cryotube. However, when the number of cryotubes picked is too large, the reciprocating movement of the clamping mechanism between the target cryobox and the empty cryobox wastes a lot of time, which reduces the overall picking efficiency. Summary of the invention

[0004] The purpose of the present invention includes, for example, providing a biological sample selection device that can improve the problem of low efficiency in clamping and transferring cryotubes.

[0005] The purpose of the present invention also includes providing a biological sample selection method, which can improve the problem of low efficiency in clamping and transferring cryopreservation tubes.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] An embodiment of the present invention provides a biological sample selection device, including a selection platform, a first positioning frame, a first driving mechanism, a second positioning frame, a second driving mechanism, and an electric clamp;

[0008] The first positioning frame is arranged on the selection platform, and the first positioning frame is used to position and place the target cryobox; the target cryobox is used to place cryotubes; the first driving mechanism and the second positioning frame are both arranged on the selection platform, and the second positioning frame is movably arranged below the first positioning frame along a preset direction, the first driving mechanism is connected to the second positioning frame, and the first driving mechanism is used to drive the second positioning frame to move below the first positioning frame along the preset direction; the second positioning frame is used to place an empty cryobox; the second driving mechanism and the electric clamp are both arranged on the selection platform, and the electric clamp is movably arranged between the first positioning frame and the second positioning frame in the height direction, the second driving mechanism is connected to the electric clamp, and the second driving mechanism is used to drive the electric clamp to move to the bottom of the target cryobox so that the electric clamp can clamp the cryotube ejected from the bottom of the target cryobox, or the second driving mechanism is used to drive the electric clamp to move to the top of the empty cryobox so that the electric clamp can insert the clamped cryotube into the empty cryobox.

[0009] In addition, the biological sample selection device provided by the embodiment of the present invention may also have the following additional technical features:

[0010] Optionally, the target cryopreservation box includes a shell and a bottom plate, the shell is provided with a plurality of tube grooves extending vertically, the plurality of tube grooves are respectively used to insert the cryopreservation tubes, the bottom plate is slidably provided at the bottom of the shell, and the bottom plate is used to open or close the bottom of the tube groove during the movement relative to the shell;

[0011] The electric clamp is provided with a clamp and a protruding block, the clamp is used to clamp or release the cryogenic tube; the protruding block is used to clamp with the bottom plate to drive the bottom plate to open or close the bottom of the tube groove during the movement of the electric clamp; or the protruding block is used to disengage from the bottom plate so that the clamp can clamp or release the cryogenic tube during the movement of the electric clamp.

[0012] Optionally, a groove is provided at the bottom of the base plate; the protruding block is used to engage with the groove during the upward movement, or the protruding block is used to disengage from the groove during the downward movement.

[0013] Optionally, the protruding block is arranged on the top of the electric clamp, and the clamp is arranged on the side of the electric clamp.

[0014] Optionally, a fixing slot is provided on the side of the first positioning frame; the fixing slot is slidably matched with the bottom plate moved out of the shell, and the fixing slot is used to limit and fix the bottom plate moved out of the shell, or the fixing slot is used to guide the bottom plate to reset and move to the bottom of the shell.

[0015] Optionally, the second driving mechanism includes an X driving mechanism, a Y driving mechanism and a Z driving mechanism; the Y driving mechanism is arranged on the X driving mechanism, the Z driving mechanism is arranged on the Y driving mechanism, and the electric clamp is arranged on the Z driving mechanism; the X driving mechanism is used to drive the electric clamp to move along the X direction, the Y driving mechanism is used to drive the electric clamp to move along the Y direction, and the Z driving mechanism is used to drive the electric clamp to move along the Z direction.

[0016] Optionally, the X-drive mechanism includes an X-direction drive motor, a transmission screw, a fixed track and a movable track; the fixed track is fixed on the picking platform, the movable track is slidably arranged on the fixed track along the X direction, the transmission screw is arranged on the fixed track, and the transmission screw is connected to the movable track, the X-direction drive motor is fixed on the fixed track, and the X-direction drive motor is used to drive the transmission screw to rotate, so as to drive the movable track to move along the X direction;

[0017] The Y-drive mechanism comprises a Y-drive motor, a slide and a Y-drive rack; the slide is slidably arranged on the moving track along the Y-direction, the Y-direction rack is fixed on the moving track, the Y-direction drive motor is fixed on the slide, the Y-direction drive motor is transmission-connected with the Y-direction rack, and the Y-direction drive motor is used to move synchronously with the slide relative to the moving track along the Y-direction during the rotation process;

[0018] The Z-drive mechanism includes a Z-direction drive motor and a Z-direction rack; the electric clamp is slidably connected to the slide along the Z-direction, the Z-direction rack is fixed on the slide, the Z-direction drive motor is fixed on the electric clamp, the Z-direction drive motor is used for transmission connection with the Z-direction rack, and the Z-direction drive motor is used for synchronously moving with the electric clamp relative to the slide along the Z-direction during rotation.

[0019] Optionally, the biological sample selection device also includes a fixed frame, a supporting suspension and a movable frame; the fixed frame and the supporting suspension are fixed to the selection platform, and the fixed rail is fixed to the fixed frame; the first positioning frame is fixed to the supporting suspension so that the first positioning frame is located above the second driving mechanism; the movable frame is movably arranged below the second driving mechanism along the preset direction, the second positioning frame is fixed to one end of the movable frame, and the movable frame is used to drive the second positioning frame to move to the bottom of the first positioning frame.

[0020] Optionally, the first positioning frame includes a first positioning bar and two positioning motors which together form a rectangular limiting space, the first positioning bar is used to limit a pair of corners of the target cryobox located in the limiting space, and the two positioning motors are respectively used to limit the two side walls of the target cryobox located in the limiting space.

[0021] The embodiment of the present invention also provides a biological sample selection method. The method is implemented using a biological sample selection device and includes the following steps:

[0022] The second positioning rack on which the empty cryobox is placed is driven by the first driving mechanism to move to below the first positioning rack on which the target cryobox is placed;

[0023] The electric clamp is driven by the second driving mechanism to move to the bottom of the first positioning frame; and the electric clamp is used to clamp the cryotube ejected from the bottom of the target cryobox;

[0024] The electric clamp is driven by the second driving mechanism to move to the top of the second positioning frame; and the electric clamp is used to insert the clamped cryotube into the empty cryobox of the second positioning frame.

[0025] The beneficial effects of the biological sample selection device and method of the embodiments of the present invention include, for example:

[0026] A biological sample selection device comprises a selection platform, a first positioning frame, a first driving mechanism, a second positioning frame, a second driving mechanism and an electric clamp; the first positioning frame is arranged on the selection platform, and the first positioning frame is used to position and place a target cryopreservation box; the target cryopreservation box is used to place cryopreservation tubes; the first driving mechanism and the second positioning frame are both arranged on the selection platform, and the second positioning frame is movably arranged below the first positioning frame along a preset direction, the first driving mechanism is connected to the second positioning frame, and the first driving mechanism is used to drive the second positioning frame to move below the first positioning frame along a preset direction; the second positioning frame is used to place an empty cryopreservation box; the second driving mechanism and the electric clamp are both arranged on the selection platform, the electric clamp is movably arranged between the first positioning frame and the second positioning frame in the height direction, the second driving mechanism is connected to the electric clamp, and the second driving mechanism is used to drive the electric clamp to move to the bottom of the target cryopreservation box so that the electric clamp can clamp the cryopreservation tube ejected from the bottom of the target cryopreservation box, or the second driving mechanism is used to drive the electric clamp to move to the top of the empty cryopreservation box so that the electric clamp can insert the clamped cryopreservation tube into the empty cryopreservation box.

[0027] By arranging the target cryobox and the empty cryobox up and down, arranging the electric clamp between the target cryobox and the empty cryobox, taking out the target cryotube from the bottom of the target cryobox and then inserting it into the empty cryobox below, a high-efficiency cryotube transfer function is achieved to improve the problem of low efficiency in cryotube clamping and transfer.

[0028] The biological sample selection method is implemented by using the above-mentioned biological sample selection device, which can improve the problem of low efficiency in clamping and transferring cryopreservation tubes. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram of the placement state of the biological sample selection device provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the selection state of the biological sample selection device provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the overall structure of a biological sample selection device provided by an embodiment of the present invention;

[0033] Figure 4A schematic diagram of a portion of the structure of a biological sample selection device provided by an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of the assembly structure of the Y drive mechanism and the electric gripper in the biological sample selection device provided in an embodiment of the present invention;

[0035] Figure 6 A schematic diagram of the structural decomposition of a hollow cryobox in a biological sample selection device provided in an embodiment of the present invention.

[0036] Icons: 100-selection platform; 200-fixed frame; 300-support suspension; 301-first positioning bar; 302-fixed notch; 310-positioning motor; 400-movable frame; 410-positioning frame; 411-second positioning bar; 420-rack; 430-drive motor; 500-X drive mechanism; 510-fixed track; 520-movable track; 530-X drive motor; 540-drive screw; 600-Y drive mechanism; 610-slide; 620-Y-axis rack; 630-Y-axis drive motor; 640-Z-axis rack; 700-gripping mechanism; 710-electric clamp; 711-claw head; 712-raised block; 720-Z-axis drive motor; 800-target cryobox; 810-shell; 811-tube groove; 812-limiting notch; 820-bottom plate; 821-groove; 900-empty cryobox. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0042] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0043] Combine the following Figures 1 to 6 The biological sample selection device provided in this embodiment is described in detail.

[0044] Please refer to Figure 1 , Figure 2 , Figure 3 as well as Figure 4 The embodiment of the present invention provides a biological sample selection device, including a selection platform 100, a first positioning frame, a first driving mechanism, a second positioning frame, a second driving mechanism and an electric clamp 710; the first positioning frame is arranged on the selection platform 100, and the first positioning frame is used to position and place a target freezing box 800; the target freezing box 800 is used to place a freezing tube; the first driving mechanism and the second positioning frame are both arranged on the selection platform 100, and the second positioning frame is movably arranged below the first positioning frame along a preset direction, the first driving mechanism is connected to the second positioning frame, and the first driving mechanism is used to drive the second positioning frame to move along a preset direction to below the first positioning frame ; The second positioning frame is used to place the empty cryogenic box 900; the second driving mechanism and the electric clamp 710 are both arranged on the picking platform 100, the electric clamp 710 is movably arranged between the first positioning frame and the second positioning frame in the height direction, the second driving mechanism is connected to the electric clamp 710, the second driving mechanism is used to drive the electric clamp 710 to move to the bottom of the target cryogenic box 800, so that the electric clamp 710 can clamp the cryogenic tube ejected from the bottom of the target cryogenic box 800, or the second driving mechanism is used to drive the electric clamp 710 to move to the top of the empty cryogenic box 900, so that the electric clamp 710 can insert the clamped cryogenic tube into the empty cryogenic box 900.

[0045] The empty cryobox 900 and the target cryobox 800 have the same structure, except that the target cryobox 800 has cryotubes, while the empty cryobox 900 has no cryotubes. The target cryobox 800 is positioned on the first positioning rack, while the empty cryobox 900 is positioned on the second positioning rack.

[0046] The first driving mechanism drives the second positioning frame on which the empty cryobox 900 is placed to move to the bottom of the first positioning frame on which the target cryobox 800 is placed; the second driving mechanism drives the electric gripper 710 to move to the bottom of the first positioning frame; and the electric gripper 710 is used to grip the cryotube ejected from the bottom of the target cryobox 800; the second driving mechanism drives the electric gripper 710 to move to the top of the second positioning frame; and the electric gripper 710 is used to insert the gripped cryotube into the empty cryobox 900 of the second positioning frame. The electric gripper 710 is arranged between the target cryobox 800 and the empty cryobox 900, and the target cryotube is taken out from the bottom of the target cryobox 800 and then inserted into the empty cryobox 900 below, thereby improving the efficiency of gripping and transferring the cryotube.

[0047] Reference Figure 6 In this embodiment, the target cryopreservation box 800 includes a shell 810 and a bottom plate 820. The shell 810 is provided with a plurality of tube grooves 811 which pass through from top to bottom. The plurality of tube grooves 811 are respectively used to insert cryopreservation tubes. The bottom plate 820 is slidably provided at the bottom of the shell 810. The bottom plate 820 is used to open or close the bottom of the tube groove 811 during the movement relative to the shell 810. The electric clamp 710 is provided with a clamp and a protruding block 712. The clamp is used to clamp or release the cryopreservation tube. The protruding block 712 is used to clamp with the bottom plate 820 to drive the bottom plate 820 to open or close the bottom of the tube groove 811 during the movement of the electric clamp 710. Or the protruding block 712 is used to disengage from the bottom plate 820 so that the clamp can clamp or release the cryopreservation tube during the movement of the electric clamp 710.

[0048] The target cryopreservation box 800 is composed of a shell 810 and a bottom plate 820, wherein the bottom surface of the shell 810 is provided with a plurality of penetrating tube grooves 811, and the tube grooves 811 are used to limit and fix the cryopreservation tubes. A limiting groove 812 is also provided at the bottom end of the shell 810, and the bottom plate 820 can be limited and fixed in the limiting groove 812.

[0049] Reference Figure 6 , combined with Figure 5 In this embodiment, a groove 821 is provided at the bottom of the bottom plate 820; the protruding block 712 is used to engage with the groove 821 during the upward movement, or the protruding block 712 is used to disengage from the groove 821 during the downward movement.

[0050] A groove 821 is also provided at the bottom end of the bottom plate 820 . The size of the groove 821 is the same as the size and shape of the raised block 712 at the upper end of the electric clamp 710 , so that the raised block 712 can be engaged with the groove 821 .

[0051] Reference Figure 5In this embodiment, the protruding block 712 is disposed on the top of the electric clamp 710 , and the clamp is disposed on the side of the electric clamp 710 .

[0052] Reference Figure 4 In this embodiment, the first positioning frame includes a first positioning bar 301 and two positioning motors 310 which together form a rectangular limiting space. The first positioning bar 301 is used to limit a pair of corners of the target freezing box 800 located in the limiting space, and the two positioning motors 310 are respectively used to limit the two side walls of the target freezing box 800 located in the limiting space.

[0053] A first positioning bar 301 is disposed on two sides of one diagonal of the rectangular limiting space, and two positioning motors 310 are disposed on two sides of the other diagonal. The target freezing box 800 can be positioned in the limiting space through the two positioning motors.

[0054] Reference Figure 4 In this embodiment, a fixing slot 302 is provided on the side of the first positioning frame; the fixing slot 302 is slidably matched with the bottom plate 820 that is moved out of the shell 810, and the fixing slot 302 is used to limit and fix the bottom plate 820 that is moved out of the shell 810, or the fixing slot 302 is used to guide the bottom plate 820 to reset and move to the bottom of the shell 810.

[0055] The bottom plate 820 at the lower end of the target freezing box 800 corresponds to the fixed slot 302 on the support suspension 300 . When the bottom plate 820 is pulled out from the limiting slot 812 at the lower end of the target freezing box 800 , the bottom plate 820 can be fixed by the fixed slot 302 on the support suspension 300 .

[0056] Reference Figure 1 , Figure 2 as well as Figure 3 In this embodiment, the second driving mechanism includes an X driving mechanism 500, a Y driving mechanism 600 and a Z driving mechanism; the Y driving mechanism 600 is arranged on the X driving mechanism 500, the Z driving mechanism is arranged on the Y driving mechanism 600, and the electric clamp 710 is arranged on the Z driving mechanism; the X driving mechanism 500 is used to drive the electric clamp 710 to move along the X direction, the Y driving mechanism 600 is used to drive the electric clamp 710 to move along the Y direction, and the Z driving mechanism is used to drive the electric clamp 710 to move along the Z direction. The electric clamp 710 is moved at multiple angles to enable the cryopreservation tubes at multiple positions to be clamped into the empty cryopreservation box 900.

[0057] Reference Figure 1 , Figure 2 as well as Figure 3In this embodiment, the X-drive mechanism 500 includes an X-direction drive motor 530, a transmission screw, a fixed rail and a movable rail 520; the fixed rail is fixed on the picking platform 100, the movable rail 520 is slidably arranged on the fixed rail along the X direction, the transmission screw is arranged on the fixed rail, and the transmission screw is connected to the movable rail 520, the X-direction drive motor 530 is fixed on the fixed rail, and the X-direction drive motor 530 is used to drive the transmission screw to rotate, so as to drive the movable rail 520 to move along the X direction; the Y-drive mechanism 600 includes a Y-direction drive motor 630, a slide 610 and a Y-direction rack 620; the slide 610 is slidably arranged on the movable rail 520 along the Y direction, and the Y-direction rack 620 is fixed on the movable rail 520. On the moving track 520, the Y-axis driving motor 630 is fixed on the slide 610, the Y-axis driving motor 630 is connected to the Y-axis rack 620, and the Y-axis driving motor 630 is used to move the track 520 along the Y direction synchronously with the slide 610 during the rotation; the Z driving mechanism includes a Z-axis driving motor 720 and a Z-axis rack 640; the electric clamp 710 is slidably connected to the slide 610 along the Z direction, the Z-axis rack 640 is fixed on the slide 610, the Z-axis driving motor 720 is fixed on the electric clamp 710, the Z-axis driving motor 720 is used to be connected to the Z-axis rack 640, and the Z-axis driving motor 720 is used to move along the Z direction synchronously with the electric clamp 710 relative to the slide 610 during the rotation.

[0058] There are two fixed rails 510, and the movable rail 520 is movably installed between the two fixed rails 510. The X-axis drive motor 530 is fixedly installed at one end of the fixed rail 510. A transmission screw 540 is also rotatably installed on the fixed rail 510. One end of the transmission screw 540 can be connected to the X-axis drive motor 530 for power, and passes through the end of the movable rail 520 and is threadedly connected to the movable rail 520. When the X-axis drive motor 530 rotates, the threaded connection between the transmission screw 540 and the end of the movable rail 520 can make the movable rail 520 move along the fixed rail 510.

[0059] The Y-drive mechanism 600 is movably mounted on the moving track 520. The slide 610 is a hollow frame structure and is sleeved on the moving track 520. A Y-axis rack 620 is fixedly mounted through the slide 610 at the side end of the moving track 520, and a Y-axis drive motor 630 is fixedly mounted at the end of the slide 610. The gear at the end of the Y-axis drive motor 630 can mesh with the Y-axis rack 620 and drive the slide 610 to move along the moving track 520. A vertically mounted Z-axis rack 640 is also provided at the other end of the slide 610.

[0060] The electric clamp 710 is movably mounted on one end of the slide 610. A claw head 711 is mounted on one end of the electric clamp 710, and a protruding block 712 is provided on the upper end. A Z-direction drive motor 720 is mounted on the side of the electric clamp 710, and the end of the Z-direction drive motor 720 can mesh with the Z-direction rack 640. When the Z-direction drive motor 720 rotates, the meshing of the end of the Z-direction drive motor 720 with the Z-direction rack 640 enables the entire clamping mechanism 700 to move up and down along the Z-direction rack 640. The clamping mechanism 700 includes the electric clamp 710, the claw head 711, and the protruding block 712.

[0061] Reference Figure 1 , Figure 2 as well as Figure 3 In this embodiment, the biological sample selection device also includes a fixed frame 200, a supporting suspension frame 300 and a moving frame 400; the fixed frame 200 and the supporting suspension frame 300 are fixed on the selection platform 100, and the fixed track is fixed on the fixed frame 200; the first positioning frame is fixed on the supporting suspension frame 300 so that the first positioning frame is located above the second driving mechanism; the moving frame 400 is movably arranged below the second driving mechanism along a preset direction, the second positioning frame is fixed at one end of the moving frame 400, and the moving frame 400 is used to drive the second positioning frame to move below the first positioning frame.

[0062] The fixing frame 200 is fixed symmetrically to the left and right ends of the picking platform 100, and the supporting suspension frame 300 is fixed between the fixing frames 200. The main body of the supporting suspension frame 300 is a vertical frame structure.

[0063] The movable frame 400 is movably installed under the supporting suspension 300 of the picking platform 100. The movable frame 400 is a frame structure as a whole. A second positioning frame is provided at one end of the movable frame 400. The second positioning frame includes a positioning frame 410 and two second positioning bars 411. Two second positioning bars 411 are provided at two diagonal portions of the positioning frame 410.

[0064] A rack 420 is provided on one side of the movable frame 400, and a driving motor 430 is installed on the fixed frame 200 to mesh with the rack 420 and drive the rack 420 to move. The X driving mechanism 500 is integrally installed above the fixed frame 200. Two fixed rails 510 are fixedly installed on the fixed frame 200.

[0065] According to a biological sample selection device provided in this embodiment, the working principle of the biological sample selection device is:

[0066] In the initial state, the positioning frame 410 on the mobile rack 400 moves out of the selection platform 100, the cryobox transfer module places the empty cryobox 900 in the positioning frame 410, and then places the target cryobox 800 on the first positioning rack. Figure 1Then, the two positioning motors 310 position and fix the target cryopreservation box 800, and the moving frame 400 drives the empty cryopreservation box 900 to move directly under the target cryopreservation box 800 under the action of the driving motor 430. At the same time, the electric clamp 710 moves to directly under the groove 821 on the bottom plate 820 at the lower end of the target cryopreservation box 800, and then the Z-axis driving motor 720 rotates to drive the electric clamp 710 to move upward until the protruding block 712 on the electric clamp 710 is embedded in the groove 821. The clamp 710 stops moving, and the X-axis driving motor 530 rotates through the moving track 520 to drive the electric clamp 710 to move to the left, so that the bottom plate 820 under the target freezing box 800 moves out of the limiting slot 812, until the bottom plate 820 is completely moved out of the tube slot 811, and the electric clamp 710 stops moving. At this time, one end of the bottom plate 820 is limited in the fixed slot 302 at one end of the support suspension 300, and the bottom plate 820 is fixed under the action of the fixed slot 302 on the support suspension 300. The state is as follows Figure 2 Next, the tube-pushing module (not shown) and the clamping mechanism 700 simultaneously move to the upper and lower sides of the target cryotube, and the tube-pushing module pushes the target cryotube downward and pushes the target cryotube into the claw head 711 on the electric clamp 710, and then the claw head 711 clamps the target cryotube, and moves the target cryotube to the upper side of the first tube position on the empty cryobox 900 through the X-drive mechanism 500 and the Y-drive mechanism 600. Then the Z-axis drive motor 720 on the clamping mechanism 700 rotates to drive the electric clamp 710 to move downward to insert the target cryogenic tube on the claw head 711 into the first tube position on the empty cryogenic box 900, and then continue to pick up the second target cryogenic tube and put it into the second tube position on the empty cryogenic box 900 in the same way. Until all the target cryogenic tubes are picked up, the drive motor 430 reverses to remove the empty cryogenic box 900 filled with target cryogenic tubes, and the electric clamp 710 moves again to the bottom of the groove 821 on the bottom plate 820 at the lower end of the target cryogenic box 800 to insert the bottom plate 820 into the limiting slot 812.

[0067] The biological sample selection device provided in this embodiment has at least the following advantages:

[0068] The empty cryobox 900 is moved to the bottom of the target cryobox 800 by the first driving mechanism, and the electric clamp 710 is set between the empty cryobox 900 and the target cryobox 800. The electric clamp 710 is used to directly take out the cryotubes pushed out from the upper target cryobox 800 and directly put them into the empty cryobox 900 below. Compared with the traditional left-right picking method, the time for moving between the empty cryobox 900 and the target cryobox 800 is saved, which can greatly shorten the transfer time and thus improve the picking efficiency.

[0069] The embodiment of the present invention also provides a biological sample selection method. The biological sample selection device is used for implementation, and includes the following steps: the first driving mechanism drives the second positioning frame on which the empty cryobox 900 is placed to move to the bottom of the first positioning frame on which the target cryobox 800 is placed; the second driving mechanism drives the electric clamp 710 to move to the bottom of the first positioning frame; the electric clamp 710 is used to clamp the cryotube ejected from the bottom of the target cryobox 800; the second driving mechanism drives the electric clamp 710 to move to the top of the second positioning frame; and the electric clamp 710 is used to insert the clamped cryotube into the empty cryobox 900 of the second positioning frame. The problem of low efficiency in clamping and transferring cryotubes can be improved.

[0070] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A biological sample selection device, characterized in that: include: Select Platform (100); A first positioning frame, the first positioning frame is arranged on the selection platform (100), and the first positioning frame is used to position and place a target cryopreservation box (800); the target cryopreservation box (800) is used to place a cryopreservation tube; A first driving mechanism and a second positioning frame, wherein the first driving mechanism and the second positioning frame are both arranged on the picking platform (100), and the second positioning frame is movably arranged below the first positioning frame along a preset direction, the first driving mechanism is connected to the second positioning frame, and the first driving mechanism is used to drive the second positioning frame to move along the preset direction to below the first positioning frame; The second positioning rack is used to place an empty freezing box (900); A second driving mechanism and an electric clamp (710), the second driving mechanism and the electric clamp (710) are both arranged on the picking platform (100), the electric clamp (710) is movably arranged in the height direction between the first positioning frame and the second positioning frame, the second driving mechanism is connected to the electric clamp (710), the second driving mechanism is used to drive the electric clamp (710) to move to the bottom of the target cryopreservation box (800), so that the electric clamp (710) can clamp the cryopreservation tube ejected from the bottom of the target cryopreservation box (800), or the second driving mechanism is used to drive the electric clamp (710) to move to the top of the empty cryopreservation box (900), so that the electric clamp (710) can insert the clamped cryopreservation tube into the empty cryopreservation box (900).

2. The biological sample selection device according to claim 1, characterized in that: The target cryopreservation box (800) comprises a shell (810) and a bottom plate (820), wherein the shell (810) is provided with a plurality of tube grooves (811) extending vertically, wherein the plurality of tube grooves (811) are respectively used for inserting the cryopreservation tubes, and the bottom plate (820) is slidably arranged at the bottom of the shell (810), and the bottom plate (820) is used for opening or closing the bottom of the tube groove (811) during the process of moving relative to the shell (810); The electric clamp (710) is provided with a clamp and a protruding block (712), wherein the clamp is used to clamp or release the cryogenic tube; the protruding block (712) is used to clamp with the base plate (820) so as to drive the base plate (820) to open or close the bottom of the tube groove (811) during the movement of the electric clamp (710); or the protruding block (712) is used to disengage from the base plate (820) so as to enable the clamp to clamp or release the cryogenic tube during the movement of the electric clamp (710).

3. The biological sample selection device according to claim 2, characterized in that: A groove (821) is provided at the bottom of the bottom plate (820); the protruding block (712) is used to engage with the groove (821) during the upward movement, or the protruding block (712) is used to disengage from the groove (821) during the downward movement.

4. The biological sample selection device according to claim 3, characterized in that: The protruding block (712) is arranged on the top of the electric clamp (710), and the clamp is arranged on the side of the electric clamp (710).

5. The biological sample selection device according to claim 2, characterized in that: A fixing notch (302) is provided on the side of the first positioning frame; the fixing notch (302) is slidably matched with the bottom plate (820) moved out of the shell (810), and the fixing notch (302) is used to limit and fix the bottom plate (820) moved out of the shell (810), or the fixing notch (302) is used to guide the bottom plate (820) to return to the bottom of the shell (810).

6. The biological sample selection device according to any one of claims 1 to 5, characterized in that: The second driving mechanism comprises an X driving mechanism (500), a Y driving mechanism (600) and a Z driving mechanism; the Y driving mechanism (600) is arranged on the X driving mechanism (500), the Z driving mechanism is arranged on the Y driving mechanism (600), and the electric clamp (710) is arranged on the Z driving mechanism; the X driving mechanism (500) is used to drive the electric clamp (710) to move along the X direction, the Y driving mechanism (600) is used to drive the electric clamp (710) to move along the Y direction, and the Z driving mechanism is used to drive the electric clamp (710) to move along the Z direction.

7. The biological sample selection device according to claim 6, characterized in that: The X-drive mechanism (500) comprises an X-direction drive motor (530), a transmission screw, a fixed track and a movable track (520); the fixed track is fixed on the picking platform (100); the movable track (520) is slidably arranged on the fixed track along the X direction; the transmission screw is arranged on the fixed track and connected to the movable track (520); the X-direction drive motor (530) is fixed on the fixed track; the X-direction drive motor (530) is used to drive the transmission screw to rotate, so as to drive the movable track (520) to move along the X direction; The Y-drive mechanism (600) comprises a Y-direction drive motor (630), a slide (610) and a Y-direction rack (620); the slide (610) is slidably arranged on the movable track (520) along the Y direction, the Y-direction rack (620) is fixed on the movable track (520), the Y-direction drive motor (630) is fixed on the slide (610), the Y-direction drive motor (630) is transmission-connected with the Y-direction rack (620), and the Y-direction drive motor (630) is used to move synchronously with the slide (610) relative to the movable track (520) along the Y direction during the rotation process; The Z-drive mechanism comprises a Z-drive motor (720) and a Z-drive rack (640); the electric clamp (710) is slidably connected to the slide (610) along the Z-direction, the Z-direction rack (640) is fixed to the slide (610), the Z-direction drive motor (720) is fixed to the electric clamp (710), the Z-direction drive motor (720) is used for transmission connection with the Z-direction rack (640), and the Z-direction drive motor (720) is used for synchronously moving along the Z-direction with the electric clamp (710) relative to the slide (610) during rotation.

8. The biological sample selection device according to claim 7, characterized in that: The biological sample selection device further comprises a fixed frame (200), a supporting suspension frame (300) and a movable frame (400); the fixed frame (200) and the supporting suspension frame (300) are fixed on the selection platform (100), and the fixed track is fixed on the fixed frame (200); the first positioning frame is fixed on the supporting suspension frame (300) so that the first positioning frame is located above the second driving mechanism; the movable frame (400) is movably arranged below the second driving mechanism along the preset direction, the second positioning frame is fixed to one end of the movable frame (400), and the movable frame (400) is used to drive the second positioning frame to move below the first positioning frame.

9. The biological sample selection device according to any one of claims 1 to 5, characterized in that: The first positioning frame includes a first positioning bar (301) and two positioning motors (310) which together enclose a rectangular limiting space. The first positioning bar (301) is used to limit a pair of corners of the target cryobox (800) located in the limiting space, and the two positioning motors (310) are respectively used to limit the two side walls of the target cryobox (800) located in the limiting space.

10. A biological sample selection method, implemented by using the biological sample selection device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The second positioning frame on which the empty cryogenic box (900) is placed is driven by the first driving mechanism to move to below the first positioning frame on which the target cryogenic box (800) is placed; The electric clamp (710) is driven to move to the bottom of the first positioning frame by the second driving mechanism; and the electric clamp (710) is used to clamp the cryogenic tube ejected from the bottom of the target cryogenic box (800); The electric clamp (710) is driven by the second driving mechanism to move to the top of the second positioning frame; and the electric clamp (710) is used to insert the clamped cryotube into the empty cryobox (900) of the second positioning frame.

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