Glove box system

Abstract

The application discloses a glove box system, which comprises a box body, an exchange device, a mechanical arm, a functional unit and a workpiece. The box body is provided with a sealed chamber, the exchange device is installed on the box body and is used for transferring experimental supplies between the outside and the sealed chamber. The mechanical arm, the functional unit and the workpiece are all located in the sealed chamber. The workpiece is connected with the mechanical arm, the mechanical arm drives the workpiece to move, the workpiece moves the experimental supplies from the exchange device to the functional unit and moves the experimental supplies from the functional unit to the exchange device, and the functional unit is used for storing the experimental supplies and / or performing experimental tasks by using the experimental supplies. In the experimental process, the degree of automation is high, a large number of experimental personnel are not needed to participate, the sample preparation period is short, and the experimental success rate is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the glove box technical field, and in particular to a glove box system. BACKGROUND

[0002] In the process of scientific research such as drug development, a large number of samples need to be prepared in an ultra-pure environment to ensure experimental accuracy. As a device for providing an ultra-pure environment, a glove box has become an indispensable device for scientific experiments.

[0003] However, the current glove box requires a large number of experimental personnel to participate, and the operation process is very complex, the sample preparation period is long, and the probability of human operation errors is large. SUMMARY

[0004] The purpose of the present application is to provide a glove box system that does not require a large number of experimental personnel to participate in sample preparation, has a shorter sample preparation period, reduces or avoids the risk of operation errors, and improves the preparation efficiency.

[0005] The present application provides a glove box system comprising: a box body, an exchange device, a mechanical arm, a functional unit, and a workpiece; the box body is provided with a sealed chamber, the exchange device is installed on the box body and is used to transfer experimental supplies between the outside and the sealed chamber; the mechanical arm, the functional unit, and the workpiece are all located in the sealed chamber; the workpiece is connected with the mechanical arm, the mechanical arm drives the workpiece to move, the workpiece moves the experimental supplies from the exchange device to the functional unit, and moves the experimental supplies from the functional unit to the exchange device; the functional unit is used to store experimental supplies and / or execute experimental tasks using experimental supplies.

[0006] In some embodiments, the functional unit comprises a plurality of functional units, and the plurality of functional units are distributed around the mechanical arm.

[0007] In some embodiments, the sealed chamber has a bottom wall surface, and the mechanical arm and the plurality of functional units are both installed on the bottom wall surface; the mechanical arm is placed at the center position of the bottom wall surface; the functional units away from the mechanical arm are higher than the functional units close to the mechanical arm.

[0008] In some embodiments, the functional unit close to the exchange device is lower than the functional unit away from the exchange device.

[0009] In some embodiments, the functional unit comprises at least one of an electromagnetic stirrer, a shaker, a supernatant detector, a powder adding device, a code reader, a switch cover rotator, and a liquid level layering detector.

[0010] In some embodiments, the switch cover rotator, the liquid level layering detector, the code reader, the powder adding device, the shaker, the supernatant detector, and the electromagnetic stirrer are sequentially arranged around the mechanical arm; the code reader is arranged close to the exchange device.

[0011] In some embodiments, the plurality of workpieces are stored in the storage library, and each workpiece is detachably connected to the robot arm.

[0012] In some embodiments, the storage library comprises a storage plate and a plurality of columns, one end of the plurality of columns is fixedly connected to a surface of the storage plate, and the other end of the plurality of columns is fixedly connected to the bottom wall of the sealed chamber; the storage plate is provided with a plurality of accommodation holes matched with the number of workpieces; at least part of the workpieces are placed in the accommodation holes.

[0013] In some embodiments, the robot arm is provided with a quick-change male head, each workpiece is provided with a quick-change female head, and the quick-change male head and the quick-change female head cooperate to achieve detachable connection between the robot arm and the workpiece.

[0014] In some embodiments, the plurality of workpieces comprise a first workpiece and a second workpiece, the height dimension of the first workpiece is greater than the height dimension of the second workpiece in the height direction of the glove box system; when the first workpiece and the second workpiece are stored in the storage library, the distance between the first workpiece and the robot arm is greater than the distance between the second workpiece and the robot arm.

[0015] In some embodiments, the functional unit further comprises a solvent library for storing reagents; the workpiece comprises a pipette, the robot arm is connected to the pipette, the robot arm drives the pipette to move, and the pipette performs pipetting operation in the solvent library.

[0016] In some embodiments, the solvent library comprises at least one shelf, the shelf comprises an accommodation cavity with an opening, a container carrying assembly for carrying containers is arranged in the accommodation cavity, and the container carrying assembly is provided with a plurality of container placing portions; the container carrying assembly is connected to the shelf through a first movement mechanism, and the first movement mechanism is used to drive the container carrying assembly to move linearly at the opening; a container sealing assembly is further arranged in the accommodation cavity, and the container sealing assembly is connected to the shelf through a second movement mechanism; the container sealing assembly comprises a sealing mechanism corresponding to the container placing portion, and the second movement mechanism is used to drive the sealing mechanism to approach or move away from the container placing portion, so as to make the sealing mechanism sealingly cooperate with or be separated from the container mouth of the container.

[0017] In some embodiments, the functional unit further comprises a switch cover rotator arranged on the bottom wall of the sealed chamber; the workpiece further comprises a container transfer clamp jaw connected to the robot arm and driven by the robot arm to move, the container transfer clamp jaw clamps a bottle cap of a container for holding experimental supplies, the switch cover rotator clamps a bottle body of the container, and the container transfer clamp jaw and the switch cover rotator cooperate to perform switch cover operation on the container.

[0018] In some embodiments, the glove box system further comprises a buffer rack arranged on the bottom wall or the side wall of the sealed chamber, and the buffer rack is arranged away from the exchange device, and the mechanical arm drives the workpiece to take and place the experimental supplies in the buffer rack; the buffer rack comprises at least one layer of a storage plate, and the storage plate is provided with a storage position for storing the experimental supplies.

[0019] In some embodiments, the buffer rack further comprises a fixing member arranged in the storage position, and the fixing member is used for limiting the experimental supplies in the storage position; the fixing member is a stepped pin, and the stepped pin is used for being inserted into a pin hole formed in the bottom of the experimental supplies; or the fixing member is an elastic abutting member, the storage position is a positioning groove, and the elastic abutting member is arranged in the positioning groove and can abut against the experimental supplies and be elastically deformed when the experimental supplies are placed in the positioning groove.

[0020] In some embodiments, the experimental supplies are contained in a container placed in a tray, the workpiece comprises a container transfer clamp and a tray transfer clamp, and the glove box system further comprises a transfer rack arranged on the bottom wall of the sealed chamber, the mechanical arm drives the tray transfer clamp to place the tray on the transfer rack, and the mechanical arm drives the container transfer clamp to move the container in the tray to the functional unit.

[0021] In some embodiments, the transfer rack comprises a plurality of transfer racks with different heights, and the higher the height of the transfer rack, the farther the distance from the mechanical arm.

[0022] In some embodiments, the transfer rack comprises a placement plate provided with a stepped pin used for being inserted into a pin hole formed in the bottom of the tray; and / or, both ends of the placement plate are provided with a tray clamping member to clamp the tray.

[0023] In some embodiments, the exchange device comprises an exchange chamber, a feeding mechanism, a first sealing mechanism, a second sealing mechanism, a vacuum mechanism and an inflation mechanism, the exchange chamber is provided with an exchange chamber, a first opening and a second opening, the first opening and the second opening are both in communication with the exchange chamber, and the feeding mechanism is located in the exchange chamber; the first sealing mechanism is arranged at the first opening, and the second sealing mechanism is arranged at the second opening; the vacuum mechanism and the inflation mechanism are respectively in communication with the exchange chamber; the first sealing mechanism can seal or unseal the first opening, and the second sealing mechanism can seal or unseal the second opening; the feeding mechanism can extend out of the first opening when the first opening is unsealed; the feeding mechanism can extend out of the second opening when the second opening is unsealed; the vacuum mechanism is used for vacuumizing the exchange chamber, and the inflation mechanism is used for inflating experimental gas into the exchange chamber under vacuum; the exchange chamber penetrates through the box body, the first sealing mechanism is located in the sealed chamber, and the second sealing mechanism is located outside the sealed chamber.

[0024] In some embodiments, the feeding mechanism comprises a first driving part, a second driving part and a bearing table, the first driving part is connected to the bottom surface of the exchange chamber, the second driving part is slidingly connected to the first driving part, and the bearing table is slidingly connected to the second driving part; the first driving part, the second driving part and the bearing table are sequentially stacked along the height direction of the exchange chamber.

[0025] The first driving part drives the second driving part to move in a first direction, and the second driving part drives the bearing table to move in the first direction, so that the bearing table extends out of the exchange chamber from the first opening; the first driving part drives the second driving part to move in a second direction, and the second driving part drives the bearing table to move in the second direction, so that the bearing table extends out of the exchange chamber from the second opening; the first direction and the second direction are opposite. The first direction is from the second opening to the first opening, and the second direction is from the first opening to the second opening. The first opening and the second opening are located on opposite sides of the exchange chamber.

[0026] In some embodiments, the glove box system further comprises an identification code calibration piece for identifying the position of the glove box system by an external mobile robot; the identification code calibration piece comprises: a three-axis calibration bracket arranged on the outer wall of the box body, the three-axis calibration bracket comprising X-direction connecting plates, Y-direction connecting plates and Z-direction connecting plates arranged perpendicular to each other, one end of the Y-direction connecting plate being connected to one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate being connected to one end of the Z-direction connecting plate; three identification code calibration plates, two of which are arranged at the two ends of the X-direction connecting plate, and the other is arranged at the other end of the Z-direction connecting plate; wherein each identification code calibration plate is internally provided with an identification code for positioning the glove box system by a mobile robot performing sample storage and retrieval operations outside.

[0027] In some embodiments, the glove box system further comprises a gas feeding device connected to the box body, the gas feeding device being used for feeding gas into the sealed chamber.

[0028] In some embodiments, the box body comprises a peripheral plate, a first enclosing plate and a second enclosing plate, the first enclosing plate and the second enclosing plate being fixedly connected to opposite sides of the peripheral plate, and the first enclosing plate, the second enclosing plate and the peripheral plate enclosing the sealed chamber; the peripheral plate is provided with a transparent visual area; the exchange device is arranged on the peripheral plate.

[0029] In some embodiments, the box further comprises a base fixed to the lower side of the second enclosing plate; the glove box system further comprises a control device, an electrical device and a sealed communication device; the control device and the electrical device are located in the base, one end of the sealed communication device is located in the sealed chamber and the other end is located in the base so as to communicate the sealed chamber with the base; the control device is electrically connected with the electrical device, one side of the sealed communication device is connected with the control device and the electrical device, and the other side of the sealed communication device is connected with the mechanical arm, the functional unit and the workpiece; the control device controls the mechanical arm, the functional unit and / or the workpiece through the sealed communication device.

[0030] In some embodiments, the glove box system further comprises a mobile robot located outside the box for placing or taking out the experimental supplies in / from the feeding mechanism when the second opening of the exchange device is opened.

[0031] The glove box system provided by the present application can drive the workpiece to any functional unit needed to cooperate with the workpiece when the mechanical arm rotates and moves, and then store the experimental supplies grabbed by the workpiece in the functional unit or make the workpiece perform experimental tasks on the experimental supplies in the functional unit. In the experimental process, the automation degree is high, a large number of experimental personnel are not needed to participate, the sample preparation period is short, and the experimental success rate is high. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows.

[0033] Figure 1 is a structural schematic diagram of the glove box system provided by the embodiment of the present application;

[0034] Figure 2 is a structural schematic diagram of the glove box system provided by the embodiment of the present application; Figure 1 is a structural schematic diagram of the glove box system provided by the embodiment of the present application from another perspective;

[0035] Figure 3 is a structural schematic diagram of the glove box system provided by the embodiment of the present application from still another perspective; Figure 1 is a structural schematic diagram of the glove box system provided by the embodiment of the present application from still another perspective;

[0036] Figure 4 is a structural schematic diagram of the exchange device of the glove box system provided by the embodiment of the present application; Figure 1 is a structural schematic diagram of the exchange device of the glove box system provided by the embodiment of the present application;

[0037] Figure 5 is a structural schematic diagram of the feeding mechanism of the exchange device provided by the embodiment of the present application; Figure 4 is a structural schematic diagram of the feeding mechanism of the exchange device provided by the embodiment of the present application;

[0038] Figure 6 is a structural schematic diagram of the first sealing mechanism of the exchange device provided by the embodiment of the present application; Figure 4 is a structural schematic diagram of the first sealing mechanism of the exchange device provided by the embodiment of the present application;

[0039] Figure 7is Figure 1 schematic view of the internal structure of the glovebox system shown in

[0040] Figure 8 is Figure 1 schematic view of the internal structure of the glovebox system shown in

[0041] Figure 9 is Figure 7 schematic view of the tray transfer gripper of the glovebox system shown in

[0042] Figure 10 is Figure 7 schematic view of the storage magazine of the glovebox system shown in

[0043] Figure 11 is Figure 7 schematic view of the solvent magazine of the glovebox system shown in

[0044] Figure 12 is Figure 7 schematic view of the buffer rack of the glovebox system shown in

[0045] Explanation of reference signs: 1000 - glove box system, 100 - box body, 110 - upper shell, 111 - peripheral plate, 112 - first enclosing plate, 113 - second enclosing plate, 114 - first side plate, 115 - second side plate, 116 - third side plate, 117 - fourth side plate, 120 - base, 200 - exchange device, 210 - exchange bin, 220 - first closing mechanism, 221 - first closing plate, 222 - first longitudinal driving member, 223 - first transverse driving member, 224 - first fixing plate, 225 - first rail, 230 - second closing mechanism, 240 - first mounting plate, 240a - second mounting plate, 250 - feeding mechanism, 251 - primary driving part, 252 - first carrier plate, 253 - first sliding rail, 254 - first guide sliding block, 255 - first driving member, 256 - secondary driving part, 257 - second carrier plate, 258 - second sliding rail, 259 - second guide sliding block, 260 - second driving member, 261 - bearing table, 300 - mechanical arm, 400 - functional unit, 420 - transfer frame, 430 - experimental unit, 431 - electromagnetic stirrer, 432 - oscillator, 433 - solvent detection device, 434 - powder adding device, 435 - code reading device, 436 - switch cover rotator, 437 - liquid level stratification detector, 440 - storage library, 441 - storage plate, 442 - stand column, 443 - first containing hole, 444 - second containing hole, 445 - third containing hole, 450 - solvent library, 451 - frame body, 4511 - weight-reducing hole, 455 - container bearing assembly, 456 - support plate, 457 - connecting rod, 458 - top plate, 459 - limiting hole, 460 - buffer rack, 461 - support rod, 462 - storage plate, 470 - first transfer frame, 480 - single-link tray rack, 490 - second transfer frame, 510 - quick-change female head, 530 - tray transfer clamping jaw, 531 - driving member, 532 - first clamping jaw, 533 - second clamping jaw, 600 - identification code calibration element, 601 - vacuum pump, 601a - pump pipe, 602 - pipe, 603 - water content detector, 604 - oxygen content detector, 605 - explosion-proof lighting lamp set, 606 - exhaust valve, 607 - sealing communication device, 700 - operating glove. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0047] Reference Figure 1 , Figure 2 and Figure 7The glove box system 1000 comprises a box body 100, an exchange device 200, a mechanical arm 300, a functional unit 400, a workpiece, an identification code calibration piece 600, a pipeline 602, a gas supply device (not shown), a water content detector 603, an oxygen content detector 604, an explosion-proof lighting lamp set 605, an exhaust valve 606, a sealed communication device 607, an electrical device (not shown), a control device (not shown) and an operating glove 700.

[0048] For the convenience of description, the width direction of the glove box system 1000 is defined as the Y direction, the length direction of the glove box system 1000 is defined as the X direction, and the height direction of the glove box system 1000 is defined as the Z direction. The X direction, the Y direction and the Z direction are perpendicular to each other.

[0049] The box body 100 is used to carry other components. Specifically, the exchange device 200, the mechanical arm 300, the functional unit 400, the workpiece, the identification code calibration piece 600, the pipeline 602, the water content detector 603, the oxygen content detector 604, the explosion-proof lighting lamp set 605, the exhaust valve 606, the sealed communication device 607, the electrical device, the control device and the operating glove 700 can be installed on the box body 100. In addition, the glove box system 1000 can also comprise a display device for the user to view and interact, and the display device is arranged on the outer wall of the box body 100.

[0050] The electrical device is used to supply power to the remaining devices in the glove box system 1000. The control device is used to control the operation of each device in the glove box system 1000. The box body 100 is provided with a sealed chamber, and the sealed chamber maintains the environmental conditions required for experiments (such as pure nitrogen or inert gas, specific water and oxygen content, etc.). Experiments that need to be completed in a specific environment can be carried out in the sealed chamber. Among them, the mechanical arm 300, the functional unit 400, the workpiece and the sealed communication device 607 are located in the sealed chamber. The sealed communication device 607 is used for signal and power transmission for devices inside and outside the sealed chamber, which can realize the communication between the inside and outside of the sealed chamber, and itself has a sealing effect. The sealed communication device 607 can be an aviation plug. The control device and the electrical device located outside the sealed chamber can be connected to one side of the sealed communication device 607, and the other side of the sealed communication device 607 is connected to the mechanical arm 300, the functional unit 400 and the workpiece, so that the control device can control the operation of the mechanical arm 300, the functional unit 400 and the workpiece under the sealed condition, and the electrical device can supply power to the mechanical arm 300, the functional unit 400 and the workpiece under the sealed condition.

[0051] The exchange device 200 is installed on the box 100 and is used to transfer the experimental supplies between the outside and the inside of the box 100. Specifically, the exchange device 200 can be in communication with the sealed chamber of the box 100 and is used as an interaction bridge between the outside and the sealed chamber. The mechanical arm 300 is used to cooperate with the workpiece and move the experimental supplies to the functional unit 400. The functional unit 400 is used to perform experiments and / or store the experimental supplies by using the experimental supplies.

[0052] The identification code calibration member 600 is used for a mobile robot in the outside to identify the position of the glove box system 1000, so that the mobile robot can accurately cooperate with the exchange device 200 to facilitate the transfer of the experimental supplies. The identification code calibration member 600 can include a three-axis calibration support and three identification code calibration boards. The three-axis calibration support is arranged on the outer wall of the box 100 and includes an X-direction connecting plate, a Y-direction connecting plate, and a Z-direction connecting plate arranged perpendicular to each other. One end of the Y-direction connecting plate is connected to one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected to one end of the Z-direction connecting plate. Two of the three identification code calibration boards are arranged at two ends of the X-direction connecting plate, and the other identification code calibration board is arranged at the other end of the Z-direction connecting plate. Each of the identification code calibration boards is internally provided with an identification code, which is used to position the glove box system 1000 by a mobile robot performing sample access operations from the outside.

[0053] The gas supply device is used to supply experimental gas (such as nitrogen or inert gas) to the sealed chamber of the box 100 through the pipeline 602 to ensure that the experiment is completed under the protection of nitrogen or inert gas. The water content detector 603 is used to detect the moisture content in the sealed chamber, and the oxygen content detector 604 is used to detect the oxygen content in the sealed chamber. The explosion-proof lighting lamp set 605 is used to illuminate the inside of the sealed chamber and has an explosion-proof function, which can increase the safety factor of the glove box system 1000. The operation glove 700 is used for manual operation by the experimental personnel.

[0054] Reference is made to Figure 3The box 100 can be cuboid, square or cylindrical, comprising an upper shell 110 and a base 120, the upper shell 110 being stacked on the upper side of the base 120. The upper shell 110 comprises a peripheral plate 111, a first enclosing plate 112 and a second enclosing plate 113, both of which are cuboid thin plates and oppositely arranged along the Z-axis direction, the first enclosing plate 112 being located on the upper side of the second enclosing plate 113. The peripheral plate 111 comprises a first side plate 114, a second side plate 115, a third side plate 116 and a fourth side plate 117 connected in sequence, wherein the first side plate 114 and the third side plate 116 are oppositely arranged along the Y direction, and the second side plate 115 and the fourth side plate 117 are oppositely arranged along the X direction. The peripheral plate 111 is located between the first enclosing plate 112 and the second enclosing plate 113, and oppositely arranged along the Z-axis direction. The peripheral plate 111 is fixedly connected with the first enclosing plate 112 and the second enclosing plate 113, respectively. The first enclosing plate 112, the second enclosing plate 113 and the peripheral plate 111 enclose a sealed chamber. The peripheral plate 111 is provided with a transparent region for visualization, for example, at least one of the first side plate 114, the second side plate 115, the third side plate 116 and the fourth side plate 117 is a transparent baffle. The transparent region is used for the external light to enter the sealed chamber, so as to facilitate the experimenter to observe the experimental progress inside the sealed chamber from the outside, and facilitate the light of the explosion-proof lighting lamp group 605 to illuminate the inside of the sealed chamber. In order to facilitate the experimenter to perform manual operation in the glove box system 1000 by means of the operation glove 700, the second side plate 115 is provided as a transparent baffle. In addition, the peripheral plate 111 can also be provided with an operation door, for example, an operation door is arranged at the second side plate 115 and / or the fourth side plate 117. When the equipment needs to be replaced or maintained after the experiment is completed, the experimenter can open the operation door to perform corresponding operation. The base 120 is located on the lower side of the upper shell 110 and shares the second enclosing plate 113 with the upper shell 110. The base 120 is provided with a containing chamber for containing control equipment and electrical equipment.

[0055] In some embodiments, the exchange device 200 is installed in the box 100 and used to transfer experimental supplies between the outside and the sealed chamber; the mechanical arm 300, the functional unit 400 and the workpiece are all located in the sealed chamber. The workpiece is connected with the mechanical arm 300, the mechanical arm 300 drives the workpiece to move, the workpiece moves the experimental supplies from the exchange device 200 to the functional unit 400, and moves the experimental supplies from the functional unit 400 to the exchange device 200; the functional unit 400 is used to store experimental supplies and / or perform experimental tasks by using experimental supplies.

[0056] Thus, when the robotic arm 300 rotates and moves, it can drive the workpiece to any functional unit 400 that needs to cooperate with the workpiece, and then transfer the experimental supplies grabbed by the workpiece to the functional unit 400, so that the functional unit 400 can store the experimental supplies and / or perform experimental tasks on the experimental supplies. During the experiment, the degree of automation is high, and there is no need for a large number of experimenters to participate. The sample preparation cycle is short, and the success rate of the experiment is high. It can be understood that the glove box system 1000 provided in the embodiment of the present application is provided with operating gloves 700. When the experiment to be performed is relatively simple, the experimenter can also choose manual operation. Specifically, the experimenter wears the operating gloves 700 and operates in the sealed chamber through the operating gloves 700. Thereby, the applicability of the glove box system 1000 is improved.

[0057] refer to Figure 3 、 Figure 4 and Figure 5 The exchange device 200 includes an exchange chamber 210, a feeding mechanism 250, a first sealing mechanism 220, a second sealing mechanism 230, a first mounting plate 240, a second mounting plate 240a, a vacuum mechanism, and an inflation mechanism. The exchange device 200 can be mounted on at least one side panel of the upper housing 110, for example, the exchange device 200 can be mounted on at least one side panel of the first side panel 114, the second side panel 115, the third side panel 116, and the fourth side panel 117. Figure 3 The exchange device 200 shown in FIG. 1 is mounted on the third side plate 116 .

[0058] The first mounting plate 240 is fixed in the sealed chamber of the box body 100 , and the second mounting plate 240 a is fixed outside the sealed chamber of the box body 100 , specifically to the outside of the third side plate 116 with a mounting gap between them.

[0059] The exchange bin 210 is provided with an exchange chamber, a first opening, and a second opening, both of which are connected to the exchange chamber. The exchange bin 210 is fixed within the mounting space, and the first mounting plate 240 and the second mounting plate 240a are fixedly connected on opposite sides of the exchange bin 210. The exchange bin 210 extends through the housing 100. Specifically, the side of the exchange bin 210 provided with the first opening extends through the third side plate 116, extends into the sealed chamber, and is fixedly connected to the first mounting plate 240. The side of the exchange bin 210 provided with the second opening extends through the second mounting plate 240a and is exposed to the outside world.

[0060] The feeding mechanism 250 is located in the exchange chamber and can extend out of the exchange chamber from the first opening or the second opening. The first sealing mechanism 220 is arranged at the first opening and located in the sealed chamber. The second sealing mechanism 230 is arranged at the second opening and located outside the sealed chamber. The first sealing mechanism 220 can seal or unseal the first opening, and the second sealing mechanism 230 can seal or unseal the second opening. The vacuum mechanism and the gas filling mechanism are respectively communicated with the exchange chamber.

[0061] The feeding mechanism 250 can extend out of the first opening when the first opening is unsealed, and the feeding mechanism 250 can extend out of the second opening when the second opening is unsealed. The vacuum mechanism is used for vacuumizing the exchange chamber, and the gas filling mechanism is used for filling the experimental gas into the exchange chamber under vacuum.

[0062] With reference to the specific embodiments Figure 1 The vacuum mechanism includes a vacuum pump 601 and a pump pipe 601a. Two ends of the pump pipe 601a are respectively connected with the vacuum pump 601 and the exchange chamber of the exchange chamber 210. The vacuum pump 601 performs vacuumizing on the exchange chamber through the pump pipe 601a.

[0063] The gas filling mechanism can include a switch valve and a communication pipe. One end of the communication pipe is communicated with the exchange chamber, and the other end of the communication pipe is communicated with a gas supply device. The switch valve is arranged at one end of the communication pipe and used for opening or closing the communication pipe. The gas supply device stores the experimental gas and can simultaneously provide the experimental gas for the exchange chamber and the sealed chamber of the glove box system 1000. After the vacuum pump 601 performs vacuumizing on the exchange chamber 210, the switch valve is controlled to be opened, so that the gas supply device delivers the experimental gas into the exchange chamber 210 through the communication pipe. When the gas filling is completed, the switch valve is controlled to be closed to close the communication pipe. In order to ensure that the environment in the exchange chamber 210 can be maximized to approach the environment in the sealed chamber, the above-mentioned vacuumizing and filling of the experimental gas can be performed for multiple times, for example, 3-5 times, until the environment in the exchange chamber 210 is consistent with the environment in the sealed chamber 101.

[0064] In addition, the vacuum mechanism can further include a vacuum pressure gauge installed on the exchange chamber 210 and communicated with the exchange chamber, for measuring the pressure in the exchange chamber.

[0065] With reference to the specific embodiments Figure 5The feeding mechanism 250 specifically comprises a first driving part 251, a second driving part 256, and a bearing table 261. The first driving part 251 is connected to the bottom surface of the exchange chamber. The second driving part 256 is slidingly connected to the first driving part 251. The bearing table 261 is slidingly connected to the second driving part 256. In the depth direction of the exchange chamber, the first driving part 251 drives the second driving part 256 to move in a first direction, and the second driving part 256 drives the bearing table 261 to move in the first direction, so that the bearing table 261 extends out of the exchange chamber from the first opening. The first driving part 251 drives the second driving part 256 to move in a second direction, and the second driving part 256 drives the bearing table 261 to move in the second direction, so that the bearing table 261 extends out of the exchange chamber from the second opening. The first direction and the second direction are opposite. The first direction is a direction from the second opening to the first opening. The second direction is a direction from the first opening to the second opening. The first opening and the second opening are respectively located on opposite sides of the exchange chamber.

[0066] After the second closing mechanism 230 closes the second opening and the first closing mechanism 220 opens to expose the first opening, the first driving part 251 drives the second driving part 256 to move in the first direction. At this time, referring to Figure 5 , the first driving part 251 drives the bearing table 261 to move in the first direction by a first distance. The second driving part 256 drives the bearing table 261 to move in the first direction by a second distance. The total stroke of the bearing table 261 moving in the first direction is the sum of the first distance and the second distance. In this way, the bearing table 261 can completely extend out of the exchange chamber and into the sealed chamber, thereby facilitating the robot arm 300 to take and place experimental materials on the bearing table 261.

[0067] In some embodiments, the first driving part 251, the second driving part 256, and the bearing table 261 are sequentially stacked in the height direction of the exchange chamber. The bearing table 261 is located at the uppermost side, and the first driving part 251 is located at the lowermost side. In this way, the feeding mechanism 250 has a relatively compact structure, a small volume, and occupies a small space, thereby facilitating installation in the exchange chamber.

[0068] In some embodiments, the first driving part 251 comprises a first carrier plate 252, a first sliding rail 253, a first guide sliding block 254, and a first driving member 255. The first carrier plate 252 is fixedly connected to the bottom surface of the exchange chamber. The first sliding rail 253 is fixedly connected to the first carrier plate 252. The first guide sliding block 254 is slidingly connected to the first sliding rail 253. The second driving part 256 is connected to the first guide sliding block 254. The first driving member 255 is installed on the first carrier plate 252. The driving part of the first driving member 255 is connected to the second driving part 256. The first driving member 255 drives the second driving part 256 to move. The first driving member 255 can be a motor or a pneumatic cylinder.

[0069] The first carrier plate 252 is used to support the first sliding rail 253 and the first guide sliding block 254, and the first sliding rail 253 and the first guide sliding block 254 are used to guide the sliding of the secondary driving part 256, so that the secondary driving part 256 slides more smoothly. The first driving part 255 is used to drive the secondary driving part 256, so that the secondary driving part 256 can slide smoothly. The whole primary driving part 251 has a simple structure, a low cost, and can efficiently and stably drive the secondary driving part 256.

[0070] In some embodiments, the secondary driving part 256 includes a second carrier plate 257, a second sliding rail 258, a second guide sliding block 259, and a second driving part 260, the second carrier plate 257 is fixedly connected with the first guide sliding block 254; a driving part of the first driving part 255 is connected with the second carrier plate 257, and the first driving part 255 drives the second carrier plate 257 to move in the first direction or the second direction. The second sliding rail 258 is fixedly connected with the second carrier plate 257, the second guide sliding block 259 is slidingly connected with the second sliding rail 258, and a bearing table 261 is fixedly connected with the second guide sliding block 259; the second driving part 260 is installed on the second carrier plate 257, and a driving part of the second driving part 260 is connected with the bearing table 261, and the second driving part 260 drives the bearing table 261 to move.

[0071] The second carrier plate 257 is used to support the second sliding rail 258 and the second guide sliding block 259, and the second sliding rail 258 and the second guide sliding block 259 are used to guide the sliding of the bearing table 261, so that the bearing table 261 slides more smoothly. The second driving part 260 is used to drive the bearing table 261, so that the bearing table 261 can slide smoothly. The whole secondary driving part 256 has a simple structure, a low cost, and can efficiently and stably drive the bearing table 261.

[0072] In some embodiments, the bearing table 261 includes at least one placement plate, and the placement plate is provided with at least one placement position for placing experimental supplies. The placement position is provided with a positioning part, and the positioning part is used to limit the experimental sample in the placement position. The placement position can also be provided with a sensor, and the sensor is used to sense whether the experimental supplies are stored in the placement position. The placement position can be used to place a test tube tray containing test tubes, a solvent bottle tray containing solvent bottles, a tip head tray containing tip heads, and the like. The placement position can also be used to place container supplies such as test tubes and solvent bottles. The positioning part is connected with the experimental supplies to position the experimental supplies, so that the experimental supplies remain stable during transmission. The sensor can increase the transmission accuracy. The sensor can be a photoelectric sensor or a pressure sensor.

[0073] In some embodiments, when the placement position is used for placing the tray article, the positioning member is a stepped pin used for being inserted into a pin hole formed in the bottom of the tray article. When the tray article is placed in the placement position, the stepped pin is inserted into the pin hole in the bottom of the tray article to position the tray article. The structure is simple, the cost is low, and the positioning stability is good. For example, three placement positions can be provided on the storage plate, and two stepped pins are fixed on each placement position and are spaced apart to be adapted to the two pin holes formed in the bottom of the tray article to position the tray article in the placement position. The sensor can be arranged between the two stepped pins to sense the presence or absence of the tray article.

[0074] In other embodiments, when the placement position is used for placing the container article, the positioning member is an elastic member, and the placement position is a positioning groove. The elastic member is arranged in the positioning groove and can abut against the container article and be elastically deformed when the container article is placed in the positioning groove. The elastic member can be a metal sheet, a POM plastic member with good elasticity, or the like. The elastic member and the positioning groove are combined to position the container article, and the positioning stability is good. For example, twelve placement positions can be provided on the storage plate, each placement position is a groove to form a positioning groove, and three elastic members are uniformly arranged on the inner wall of the positioning groove to form a claw. When the container article is placed in the positioning groove, at least part of the structure of each elastic member abuts against the container article and is elastically deformed to position the container article in the positioning groove. In addition, the arrangement of the elastic member can also increase the compatibility and flexibility of the positioning groove to make it compatible with container articles of different diameters. The sensor can be arranged at the bottom of the positioning groove.

[0075] The first closing mechanism 220 is located in the sealed chamber, is mounted on the first mounting plate 240, and is used for closing or unsealing the first opening. After the first closing mechanism 220 is opened, the exchange chamber is in communication with the sealed chamber. As shown in FIG. 1, the first closing mechanism 220 is a door-shaped structure, and the first opening is a door-shaped opening. Figure 6As shown, the first closing mechanism 220 includes a first closing plate 221, a first longitudinal drive member 222, a first transverse drive member 223, a first fixed plate 224, and a first rail 225. The first fixed plate 224 is slidably connected to the first rail 225, which extends in the Z direction and is fixedly connected to the first mounting plate 240. The first closing plate 221 is connected to the driving end of the first transverse drive member 223, which is mounted on the first fixed plate 224. The first longitudinal drive member 222 is mounted on the first mounting plate 240, and the first fixed plate 224 is connected to the driving end of the first longitudinal drive member 222. The first closing plate 221 is used to close or unseal the first opening. The first transverse drive member 223 can drive the first closing plate 221 to move along the depth direction of the exchange chamber; the depth direction of the exchange chamber is the direction from the first opening to the second opening. The first longitudinal drive member 222 can drive the first fixed plate 224 to move along the height direction of the exchange device, and the first fixed plate 224 drives the first closing plate 221 to move along the height direction of the exchange device.

[0076] The structure of the second sealing mechanism 230 is similar to that of the first sealing mechanism 220. The second sealing mechanism 230 is mounted on the second mounting plate 240a and is used to seal or unseal the second opening. When the second sealing mechanism 230 is opened, the exchange chamber is connected to the outside world. In some embodiments, the second sealing mechanism 230 includes a second sealing plate, a second longitudinal drive member, a second transverse drive member, a second fixed plate, and a second track. The second fixed plate is slidably connected to the second track, which is fixedly connected to the second mounting plate 240a, and extends in the Z direction. The second sealing plate is connected to the driving end of the second transverse drive member, which is mounted to the second fixed plate. The second longitudinal drive member is mounted on the second mounting plate 240a and is connected to the driving end of the second longitudinal drive member. The second sealing plate is used to seal or unseal the second opening. The second transverse drive member can drive the second sealing plate to move along the depth direction of the exchange chamber; the depth direction of the exchange chamber is the direction from the first opening to the second opening. The second longitudinal drive member can drive the second fixed plate to move along the height direction of the exchange device, and the second fixed plate drives the second sealing plate to move along the height direction of the exchange device.

[0077] When it is needed to deliver the experimental supplies from the outside to the sealed chamber, the first closing mechanism 220 is closed and the second closing mechanism 230 is opened. Specifically, the second transverse driving member drives the second closing plate to move away from the second opening, and then the second longitudinal driving member drives the first fixed plate 224 to move upward along the Z direction, at this time, the second opening is exposed. Then the primary driving part 251 and the secondary driving part 256 drive the carrier platform 261 to extend out of the exchange chamber and outside the exchange device 200, and the experimental supplies are placed on the carrier platform 261. Then the primary driving part 251 and the secondary driving part 256 drive the carrier platform 261 to return to the exchange chamber. Then the second closing mechanism 230 is closed, and then the vacuum pump 601 draws the exchange chamber to vacuum through the pump pipe 601a. Then the control switch valve is opened, and the experimental gas stored in the gas supply device flows into the exchange chamber, so that the environment in the exchange chamber and the sealed chamber is consistent. Then the first closing mechanism 220 is opened, and the primary driving part 251 and the secondary driving part 256 drive the carrier platform 261 to extend out of the exchange chamber and into the sealed chamber, at this time, the mechanical arm 300 takes the experimental supplies from the carrier platform 261.

[0078] When it is needed to deliver the experimental supplies from the outside to the sealed chamber, the first closing mechanism 220 is closed and the second closing mechanism 230 is opened. Specifically, the second transverse driving member drives the second closing plate to move away from the second opening, and then the second longitudinal driving member drives the first fixed plate 224 to move upward along the Z direction, at this time, the second opening is exposed. Then the primary driving part 251 and the secondary driving part 256 drive the carrier platform 261 to extend out of the exchange chamber and outside the exchange device 200, and the experimental supplies are placed on the carrier platform 261. Then the primary driving part 251 and the secondary driving part 256 drive the carrier platform 261 to return to the exchange chamber. Then the second closing mechanism 230 is closed, and then the vacuum pump 601 draws the exchange chamber to vacuum through the pump pipe 601a. Then the control switch valve is opened, and the experimental gas stored in the gas supply device flows into the exchange chamber, so that the environment in the exchange chamber and the sealed chamber is consistent. Then the first closing mechanism 220 is opened, and the primary driving part 251 and the secondary driving part 256 drive the carrier platform 261 to extend out of the exchange chamber and into the sealed chamber, at this time, the mechanical arm 300 takes the experimental supplies from the carrier platform 261.

[0079] In some embodiments, the glove box system 1000 can further include a mobile robot located outside the box 100, which is used to place the experimental supplies into the feeding mechanism 250 of the exchange device 200 or take the experimental supplies out of the feeding mechanism 250 when the second opening of the exchange device 200 is opened. The use of the mobile robot for interaction can reduce the labor intensity and improve the transmission efficiency, thereby realizing a fully automated experimental process. The identification code calibration member 600 can be used to assist the mobile robot in positioning the box 100.

[0080] The mechanical arm 300 is located in the sealed chamber, and the mechanical arm 300 is connected with the bottom wall surface of the sealed chamber. The mechanical arm 300 can be a six-axis robot arm, and the mechanical arm 300 includes a movable arm, a mounting seat, and a quick-change male head. The movable arm can rotate and move in six directions, i.e., the positive direction of the X axis, the negative direction of the X axis, the positive direction of the Y axis, the negative direction of the Y axis, the positive direction of the Z axis, and the negative direction of the Z axis. One end of the movable arm is rotatably connected with the mounting seat, and the quick-change male head is fixedly connected with the other end of the movable arm. The mounting seat is used to be connected with the bottom wall surface of the sealed chamber, and the quick-change male head is used to be connected with the workpiece. In other embodiments, the mechanical arm 300 can also be a three-axis robot arm, a four-axis robot arm, or a mechanical arm built by an XYZ three-axis module. The mechanical arm 300 can also be connected with the top wall surface or the side wall surface of the sealed chamber.

[0081] With reference to Figure 7 and Figure 8 The number of the functional units 400 is multiple, and the multiple functional units 400 are distributed around the mechanical arm 300. Each functional unit 400 is distributed around the mechanical arm 300, which can increase the compactness of the distribution of each functional unit 400, and thus fully utilize the area of the bottom wall surface of the sealed chamber, so that the structure of the glove box system 1000 is more compact and smaller in size, which is beneficial to save costs and space in the laboratory, and more glove box systems can be arranged in the limited space of the laboratory. Specifically, the mechanical arm 300 is installed at the central position of the bottom wall surface of the sealed chamber. The multiple functional units 400 are installed in the surrounding area of the central position of the sealed chamber and are connected with the bottom wall surface of the sealed chamber. In this way, the position of the bottom wall surface of the sealed chamber is fully utilized, and the mechanical arm 300 and the multiple functional units 400 are connected with the bottom wall surface, which is convenient for installation and is not easy to loosen, so that the stability of the mechanical arm 300 and each functional unit 400 is good. It can be understood that the functional unit 400 can also be only one to realize a single-function experiment.

[0082] In some embodiments, the multiple functional units 400 include a first functional unit and a second functional unit, and the height dimension of the first functional unit is greater than the height dimension of the second functional unit in the height direction of the glove box system 1000. The distance between the first functional unit and the mechanical arm 300 is greater than the distance between the second functional unit and the mechanical arm 300. In other words, the higher the functional unit 400, the farther the distance between the functional unit 400 and the mechanical arm 300, and the shorter the functional unit 400, the closer the distance between the functional unit 400 and the mechanical arm 300. In this way, when the mechanical arm 300 cooperates with the functional unit 400 with a higher height, the mechanical arm 300 is prevented from touching other functional units 400, and the cooperation of the mechanical arm 300 with the functional unit 400 with a higher height is ensured.

[0083] In some embodiments, the distance between the first functional unit and the switching device 200 is greater than the distance between the second functional unit and the switching device 200. In other words, the higher the functional unit 400, the farther the distance between the functional unit 400 and the switching device 200, and the lower the functional unit 400, the closer the distance between the functional unit 400 and the switching device 200. Thus, when the mechanical arm 300 takes the experimental supplies from the feeding mechanism 250 of the switching device 200, no functional unit 400 interferes with the mechanical arm 300, so as to facilitate the mechanical arm 300 to smoothly take the experimental supplies.

[0084] Among the plurality of functional units 400, part of them are used to store experimental supplies such as reagents, and the other part is used to complete experimental tasks. The part of the functional units 400 used to complete the experimental tasks is the experimental unit 430, which can specifically include but is not limited to at least one of the electromagnetic stirrer 431, the oscillator 432, the supernatant detector 433, the powder adding device 434, the code reader 435, the switch cover rotator 436, and the liquid level layering detector 437. When the experimental unit 430 includes all the above-mentioned instruments, the switch cover rotator 436, the liquid level layering detector 437, the code reader 435, the powder adding device 434, the oscillator 432, the supernatant detector 433, and the electromagnetic stirrer 431 are sequentially arranged around the mechanical arm 300. The code reader 435 is arranged close to the switching device 200, so that after the mechanical arm 300 takes the experimental supplies from the switching bin 210, the code of the experimental supplies can be scanned in time to obtain information such as the experimental process and experimental parameters required by the experimental supplies, and the experimental supplies are transferred to the corresponding functional unit for processing. The functional unit 400 for storing reagents can include but is not limited to the solvent library 450. The experimental unit 430 can also include filters, centrifuges, and other instruments, which are not limited here.

[0085] Specifically, among the plurality of functional units 400, the solvent library 450 and the powder adding device 434 are relatively high, and the solvent library 450 and the powder adding device 434 are arranged farthest from the mechanical arm 300. The switch cover rotator 436, the code reader 435, the oscillator 432, and the supernatant detector 433 are of the second height, and the switch cover rotator 436, the liquid level layering detector 437, and the electromagnetic stirrer 431 are of the lowest height. Therefore, the switch cover rotator 436, the liquid level layering detector 437, and the electromagnetic stirrer 431 have no obstacles between them and the mechanical arm 300. It can be understood that when arranging the positions of the plurality of functional units 400, the distance between the functional unit 400 and the mechanical arm 300, the distance between the functional unit 400 and the switching device 200, and the sequence of cooperation between the mechanical arm 300 and each functional unit 400 during operation of the mechanical arm 300 should be considered comprehensively. The positions of the functional units 400 are arranged comprehensively considering the above three factors.

[0086] The experimental units 430, i.e., the electromagnetic stirrer 431, the oscillator 432, the solution clarity detector 433, the powder feeder 434, the code reader 435, the cap opening and closing rotator 436, and the liquid surface layering detector 437 are used to perform experimental tasks. The electromagnetic stirrer 431 is used to perform normal temperature or cold and hot stirring of reagents in a test tube according to experimental requirements by using magnetic force. The electromagnetic stirrer 431 can be a normal temperature electromagnetic stirrer and / or a temperature-controlled electromagnetic stirrer, and the electromagnetic stirrer with a corresponding function can be selected to perform experiments according to experimental requirements. The oscillator 432 is used to perform oscillation processing on reagents in a test tube.

[0087] The solution clarity detector 433 can be a camera or a laser sensor integrated on the electromagnetic stirrer 431 or the oscillator 432. The solution clarity detector 433 is used to detect the solution clarity state of reagents, such as uniformity, crystallization state, etc. For example, the reagents after completing the oscillation or stirring processing are photographed to observe the crystallization state of the solvent, etc. In specific implementation, the solution clarity detector 433 can include a camera for shooting images, which can move on the XYZ three-axis. After the reagents in the test tube are oscillated by the oscillator 432 or stirred by the electromagnetic stirrer 431, the solution clarity detector 433 can be used to take pictures from the bottom or top of the test tube on the oscillator 432 or the electromagnetic stirrer 431, and the clarity, crystallization, etc. of the reagents can be obtained by analyzing the images. Of course, the solution clarity detector 433 can also be integrated with the container rack on the oscillator 432 for placing the container to be oscillated or the container rack on the electromagnetic stirrer 431, and the uniformity of the reagents can be obtained by using a laser sensor.

[0088] The powder feeder 434 is used to add powders required for experiments into the container. The powder feeder 434 can be integrated with a weighing unit for quantitative sampling of powders to improve experimental accuracy. The code reader 435 is used to identify the identification code (such as a bar code or a two-dimensional code) on the container or tray to identify the type of reagents in the container or tray, the experimental operation required (such as an experimental process, experimental parameters, etc.), etc. The cap opening and closing rotator 436 is used to open or close the cap of the container in cooperation with the mechanical arm 300. The liquid surface layering detector 437 is used to detect the layering of reagents. For example, the images of the reagents after oscillation or stirring experiments are obtained to analyze the layering of the reagents, and then the experimental results are observed.

[0089] In some embodiments, specifically, the number of the solvent banks 450 is two. The solvent bank 450 specifically includes at least one shelf. The shelf includes a receiving cavity with an opening, and the receiving cavity is provided with a container carrying assembly 455 for carrying a container, and the container carrying assembly 455 is provided with a plurality of container placing portions. The container carrying assembly 455 is connected to the shelf through a first movement mechanism, and the first movement mechanism is used to drive the container carrying assembly 455 to move linearly at the opening. The receiving cavity is also provided with a container sealing assembly, and the container sealing assembly is connected to the shelf through a second movement mechanism. The container sealing assembly includes a sealing mechanism corresponding to the container placing portion, and the second movement mechanism is used to drive the sealing mechanism to approach or move away from the container placing portion, so as to make the sealing mechanism sealingly cooperate with or separate from the container port of the container. Specifically, the solvent bank 450 is located on one side of the bottom surface of the sealed cavity and is away from other functional units. No functional unit or a functional unit with a low height can be arranged between the solvent bank 450 and the mechanical arm 300, so as to avoid interference.

[0090] Specifically, referring to Figure 11 , the solvent bank 450 is provided with two shelves 451. Specifically, each shelf 451 is a square frame-shaped body with an opening on one side, forming a receiving cavity. The two shelves 451 are stacked, and each shelf 451 is provided with a weight-reducing hole 4511 to reduce the weight of the shelf 451. Thus, the solvent bank 450 has a simple structure and can store a large number of test tubes, reagent bottles and other containers, so that the storage capacity of the solvent bank 450 is large. In other embodiments, only one shelf can be provided, or three, four or five shelves can also be provided.

[0091] In some embodiments, the shelf 451 is used to accommodate the container carrying assembly 455. The container carrying assembly 455 includes a support plate 456, a connecting rod 457 and a top plate 458, the support plate 456 and the top plate 458 are opposite and spaced apart, and the opposite ends of the connecting rod 457 are fixedly connected to the support plate 456 and the top plate 458, respectively. The top plate 458 is provided with a plurality of limiting holes 459, which are the above-mentioned container placing portions. The limiting hole 459 penetrates the top plate 458 along the thickness direction. When storing reagent bottles and other containers, the reagent bottles pass through the limiting hole 459, and a part of the reagent bottles is located above the top plate 458, and another part of the reagent bottles is located in the gap between the top plate 458 and the support plate 456. Thus, the reagent bottles are limited by the hole wall of the limiting hole 459, which can prevent the reagent bottles from falling over or falling off, and increase the reliability and safety of the experiment.

[0092] The first movement mechanism can drive the container carrying assembly 455 to move linearly at the opening of the receiving cavity, for example, to move outside or inside the receiving cavity through the opening, so as to make the liquid storage and pipetting operation more convenient. A plurality of containers in each shelf 451 can be stably placed in the container carrying assembly 455, so that more containers can be accommodated in the same space, and the space occupation of the plurality of containers is reduced.

[0093] The container sealing assembly is located above the container carrying assembly 455, and the container sealing mechanism is driven away from or close to the container opening by the second movement mechanism. During the pipetting process, the opening and sealing operations of multiple containers do not need to be performed one by one, thereby reducing the operation time of the pipetting process. The first movement mechanism and the second movement mechanism can be motors or air cylinders.

[0094] In some embodiments, the glove box system 1000 further comprises a storage 440, the storage 440 is arranged in the sealed chamber, and the storage 440 is used to store a plurality of workpieces. Referring to Figure 10 The storage 440 comprises a storage plate 441 and a plurality of columns 442. One surface of the storage plate 441 is fixedly connected to one end of the plurality of columns 442, and the other end of the plurality of columns 442 is fixedly connected to the bottom wall surface. The storage plate 441 is provided with a plurality of accommodation holes, and the number of the accommodation holes can be matched with the number of the workpieces. For example, the storage plate 441 is provided with a first accommodation hole 443, a second accommodation hole 444, and a third accommodation hole 445, each of which is used to store one workpiece. The first accommodation hole 443, the second accommodation hole 444, and the third accommodation hole 445 all penetrate through the storage plate 441 along the thickness direction of the glove box system 1000. The storage plate 441 is in the shape of a cuboid thin plate, and the number of the columns 442 can be four. The four columns 442 are respectively fixedly connected to the four corners of the surface of the bottom wall of the storage plate 441 facing the sealed chamber. Thus, the columns 442 can not only avoid the workpieces to be accommodated, but also better support the storage plate 441.

[0095] The number of the workpieces is a plurality, and each workpiece can be detachably connected to the mechanical arm 300. The workpiece is provided with a quick-change female head, which is used to be detachably connected to the quick-change male head of the mechanical arm 300. Thus, it is convenient to replace different workpieces to cooperate with the mechanical arm 300. When the workpiece is not used, it can be temporarily stored in the storage 440.

[0096] In some embodiments, the plurality of workpieces comprises a first workpiece and a second workpiece. In the height direction of the glove box system 1000, the height dimension of the first workpiece protruding from the storage plate 441 is greater than the height dimension of the second workpiece protruding from the storage plate 441. When the first workpiece and the second workpiece are stored in the storage 440, the distance between the first workpiece and the mechanical arm 300 is greater than the distance between the second workpiece and the mechanical arm 300. That is, the higher the workpiece, the farther the distance between the workpiece and the mechanical arm 300. In this way, when the mechanical arm 300 replaces the workpiece, interference of the higher workpiece to the lower workpiece can be avoided.

[0097] In some embodiments, the distance between the first workpiece and the exchange device 200 is greater than the distance between the second workpiece and the exchange device 200. In other words, when placing the workpieces into the storage 440, the principle of the higher workpiece being farther away from the exchange device 200 and the lower workpiece being closer to the exchange device 200 is also followed, thereby preventing the workpieces from interfering with the operation of the robot arm 300.

[0098] Specifically, the workpieces can include a pipette, a container transfer gripper, and a tray transfer gripper 530. When the workpieces are placed in the storage 440, the pipette protrudes above the height of the storage plate 441, and the tray transfer gripper 530 and the container transfer gripper protrude below the height of the storage plate 441. Therefore, the pipette is arranged to be farther away from the robot arm 300, and the tray transfer gripper 530 and the container transfer gripper are arranged to be closer to the robot arm 300. The pipette is arranged to be farther away from the exchange device 200, and the tray transfer gripper 530 and the container transfer gripper are arranged to be closer to the exchange device 200.

[0099] The pipette, which can also be referred to as a pipette gun, can be accommodated in the first accommodation hole 443 when not in use. Specifically, the pipette passes through the first accommodation hole 443, a portion of the pipette is located above the first accommodation hole 443, and another portion of the pipette is located below the first accommodation hole 443, and the lowermost end of the pipette has a gap with the bottom wall surface of the sealed chamber. In addition, positioning members, such as stepped pins, are arranged around the first accommodation hole 443, which cooperate with the pin holes arranged on the pipette, so that the pipette is stably stored in the storage 440.

[0100] The tray transfer gripper 530 is accommodated in the second accommodation hole 444. Specifically, the tray transfer gripper 530 passes through the second accommodation hole 444, a portion of the tray transfer gripper 530 abuts the hole wall surface of the second accommodation hole 444, and the remaining portion of the tray transfer gripper 530 is located below the second accommodation hole 444 and has a gap with the bottom wall surface of the sealed chamber. In addition, positioning members are arranged on both sides of the second accommodation hole 444, which cooperate with the tray transfer gripper 530, so that the tray transfer gripper 530 is stably stored in the storage 440.

[0101] The container transfer gripper is accommodated in the third accommodation hole 445. Specifically, the container transfer gripper passes through the third accommodation hole 445, a portion of the container transfer gripper abuts the hole wall surface of the third accommodation hole 445, and the remaining portion of the container transfer gripper is located below the third accommodation hole 445 and has a gap with the bottom wall surface of the sealed chamber. In addition, positioning members are arranged on both sides of the third accommodation hole 445, which cooperate with the container transfer gripper, so that the container transfer gripper is stably stored in the storage 440.

[0102] When the pipette needs to be used, the robot arm 300 moves above the pipette, and then the quick-change male head of the robot arm 300 is quickly connected with the quick-change female head on the pipette. Then the robot arm 300 moves with the pipette, and the pipetting operation is performed in the solvent library 450 through the pipette.

[0103] The tray transfer gripper 530 is used to carry trays, such as a test tube tray, a solvent bottle tray, a tip head tray, and the like. Referring to Figure 9 , the tray transfer gripper 530 includes a driving member 531, a first gripper 532, and a second gripper 533, the first gripper 532 and the second gripper 533 are respectively connected with the driving member 531, the driving member 531 is controlled to act by a control device, and the driving member 531 drives the first gripper 532 and the second gripper 533 to move away from or close to each other. In addition, the tray transfer gripper 530 also includes a quick-change female head 510, which can be fixed above the driving member 531 through a connecting plate, and is used to be detachably connected with the quick-change male head on the robot arm 300.

[0104] A first finger is arranged at one end of the first gripper 532 away from the driving member 531, and the first gripper 532 is floatingly connected with the first finger. An elastic member is arranged between the first gripper 532 and the first finger, and two ends of the elastic member abut against the first gripper 532 and the first finger respectively. A second finger is arranged at one end of the second gripper 533 away from the driving member 531, and the second gripper 533 is floatingly connected with the second finger. An elastic member is also arranged between the second gripper 533 and the second finger, and two ends of the elastic member abut against the second gripper 533 and the second finger respectively. The elastic member can be a spring arranged at intervals, or can be a spring sheet or a rubber block, etc. By floatingly connecting the gripper finger to the gripper, when the gripper finger clamping surface is slightly not parallel to the tray, the gripper finger can adjust the clamping direction to successfully clamp the tray, so that the tray will not fall during clamping and transfer.

[0105] When the container transfer gripper needs to be used to open and close the cap, the robot arm 300 moves above the container transfer gripper, and then the quick-change male head of the robot arm 300 is quickly connected with the quick-change female head on the container transfer gripper. Then the robot arm 300 drives the container transfer gripper to clamp the container and moves to the cap opening and closing rotator 436, the cap opening and closing rotator 436 clamps the bottle body of the container, the container transfer gripper clamps the cap of the container, and the container transfer gripper cooperates with the cap opening and closing rotator 436 to perform the opening and closing operation on the container. Specifically, the cap opening and closing rotator 436 clamps the bottle body of the container, and then rotates the bottle body to make the cap and the bottle body close or separate. Of course, the container transfer gripper can also be used to transfer containers such as test tubes and reagent bottles, for example, to transfer the container to the exchange device 200, or to transfer the container to the solvent library storing the container, etc.

[0106] Optionally, the container transfer gripper can be a single gripper, and the clamping surface of the gripper can be in a V-shaped structure, or the gripper can be composed of multiple columnar structures, such as four parallel columnar bodies, to cooperatively clamp and release the container. The container transfer gripper can also be a double-sided gripper, one side of which is in a V-shaped structure, and the other side of which is composed of four columnar bodies, both of which can be used to clamp and release the container. During the opening and closing of the cap, one side of the gripper can be used to clamp the container, and then the other side of the gripper can be used to clamp the cap, for example, the V-shaped gripper is used to clamp the container, and the columnar gripper is used to clamp the cap.

[0107] It can be understood that the workpiece can also include other modules, such as a gripper capable of achieving a certain specific function, a needle tube filter, and the like, which are not limited herein.

[0108] In some embodiments, referring to Figure 12 The glove box system 1000 further includes a buffer rack 460 arranged on the bottom wall or the side wall of the sealed chamber, and the buffer rack 460 is arranged away from the exchange device 200, and the mechanical arm 300 carries the workpiece to take and place the experimental supplies in the buffer rack 460; the buffer rack 460 includes at least one layer of a storage plate 462, and the storage plate 462 is provided with a storage position for storing the experimental supplies.

[0109] Specifically, when the buffer rack 460 is arranged on the bottom wall of the sealed chamber, the buffer rack 460 includes two support rods 461 and a plurality of storage plates 462; the support rods 461 and the storage plates 462 are perpendicular to each other; the two support rods 461 are spaced apart and opposite, and one end of each of the two support rods 461 is fixedly connected to the bottom wall; the plurality of storage plates 462 are distributed between the two support rods 461, and opposite ends of the storage plate 462 are respectively connected to the two support rods 461. The number of the storage plates 462 can be two, three, four, etc. The buffer rack 460 can place a large number of containers or trays containing containers, which is convenient for experiments, and increases the convenience and efficiency of experiments. When a plurality of experimental supplies such as containers or trays are obtained from the exchange device 200, if the experimental unit is not idle, the experimental supplies can be temporarily stored in the buffer rack 460, and when the experimental unit is idle, the experimental supplies can be timely moved from the buffer rack 460 to the experimental unit for experiments.

[0110] Among them, the storage plate 462 and the support rod 461 can be fixedly connected or slidably connected. When they are slidably connected, the support rod 461 can be provided with at least one sliding groove, and a nut is arranged in the sliding groove, and the nut can move along the sliding groove. The two ends of the storage plate 462 can be fixedly provided with an angle bracket, and the angle bracket is connected to the nut through a bolt. Before locking, the position of the nut in the sliding groove is adjusted to realize the position adjustment of the storage plate 462, so that it can be suitable for experimental supplies of different heights and sizes.

[0111] In some embodiments, the storage rack 460 further comprises a fixing member arranged in the storage position, which is used to limit the experimental supplies in the storage position. Specifically, when the storage rack 460 is used to store the tray, the fixing member can be a stepped pin used to be inserted into the pin hole arranged on the bottom of the tray. Alternatively, the fixing member can be two stepped pins arranged at intervals, which are used to cooperate with the two pin holes arranged on the bottom of the tray to fix the tray in the storage rack 460, so as to position the tray and prevent the tray from shaking or falling. The storage plate 462 can be provided with a plurality of storage positions, such as 4, 6, 8, 10 or other values.

[0112] In other embodiments, when the storage rack 460 is used to store the container, the fixing member is an elastic abutting member, and the storage position is a positioning groove. The elastic abutting member is arranged in the positioning groove and can abut against the container and be elastically deformed to position the container when the container is placed in the positioning groove, so as to prevent the container from shaking or falling.

[0113] Different experimental supplies can be placed on different storage plates 462 in the storage rack 460, such as one layer for placing the container and another layer for placing the tray.

[0114] In some embodiments, when the storage rack 460 is arranged on the side wall of the sealed chamber, the storage rack 460 directly arranges the storage plate 462 on the side wall, so as to further save space.

[0115] The distance between the lowest storage plate 462 (i.e., the storage plate closest to the bottom wall) in the storage rack 460 and the bottom wall is greater than the height of the functional unit 400 placed between the storage rack 460 and the mechanical arm 300, so as to avoid the functional unit 400 from interfering with the storage plate 462 when the mechanical arm 300 takes or places the experimental supplies on the storage plate 462.

[0116] In some embodiments, the glove box system 1000 further comprises a transfer rack 420 arranged on the bottom wall of the sealed chamber. The mechanical arm 300 drives the tray transfer clamp 530 to place the tray on the transfer rack 420, and the mechanical arm 300 drives the container transfer clamp to move the container in the tray to the functional unit 400. The transfer rack 420 is specifically used for container transfer. For example, when the experimental sample taken by the exchange bin is a tray containing a plurality of test tubes, and the test tubes in the tray cannot be taken into the functional unit for experiment, the tray can be placed on the transfer rack 420, and the test tubes can be taken one by one from the transfer rack 420.

[0117] The transfer shelves 420 include multiple transfer shelves 420 with different heights, and the higher the transfer shelf 420 is, the farther the transfer shelf 420 is from the robot arm 300, so as to avoid interference of the high transfer shelf 420 on the low transfer shelf 420. The transfer shelves 420 can be arranged close to the exchange device 200. The multiple transfer shelves 420 include a first transfer shelf 470, a single-connection tray shelf 480, and a second transfer shelf 490. The height of the first transfer shelf 470 can be set to 120 mm, and the height of the second transfer shelf 490 and the single-connection tray shelf 480 can be set to 90 mm. The first transfer shelf 470 and the second transfer shelf 490 can be used to place container trays, and the single-connection tray shelf 480 can be used to place tip head trays or filter head trays.

[0118] The transfer shelves 420 include placement plates provided with stepped pins for being inserted into pin holes opened in the bottom of the tray. The two ends of the placement plate are provided with tray clamping members to clamp the tray. The stepped pins or the clamping members position the tray to prevent the tray from shaking or being lifted by the robot arm 300. For example, the placement plates of the first transfer shelf 470 and the second transfer shelf 490 are provided with stepped pins, and the placement plate of the single-connection tray shelf 480 is provided with stepped pins and clamping members.

[0119] The above describes the embodiments of the present application in detail. The specific examples are applied to the principle and implementation mode of the present application, and the above description of the embodiments is only used to help understand the method and the core idea of the present application.

Claims

1. A glove box system, characterized in that: include: Box, exchange device, robot arm, functional unit and workpiece; The box body is provided with a sealed chamber, and the exchange device is installed in the box body for transferring experimental supplies between the outside world and the sealed chamber; the robotic arm, the functional unit and the workpiece are all located in the sealed chamber; The working piece is connected to the robotic arm, and the robotic arm drives the working piece to move. The working piece enables experimental supplies to be moved from the exchange device to the functional unit, and enables experimental supplies to be moved from the functional unit to the exchange device; the functional unit is used to store experimental supplies and / or perform experimental tasks using experimental supplies; The glove box system further includes an identification code marking component, wherein the identification code marking component is used for an external mobile robot to identify the position of the glove box system; The identification code calibration component includes: A three-axis calibration bracket is provided on the outer wall of the box body, and the three-axis calibration bracket includes an X-direction connecting plate, a Y-direction connecting plate, and a Z-direction connecting plate, which are arranged perpendicular to each other in pairs, and one end of the Y-direction connecting plate is connected to one end of the X-direction connecting plate, and the other end of the Y-direction connecting plate is connected to one end of the Z-direction connecting plate; Three identification code calibration plates, wherein two of the identification code calibration plates are respectively arranged at both ends of the X-direction connecting plate, and another identification code calibration plate is arranged at the other end of the Z-direction connecting plate; Each identification code calibration plate has an internal identification code, and the identification code is used to enable an external mobile robot performing sample access operations to locate the glove box system; The box body includes a peripheral plate, a first enclosing plate and a second enclosing plate, wherein the first enclosing plate and the second enclosing plate are respectively fixedly connected to opposite sides of the peripheral plate, and the first enclosing plate, the second enclosing plate and the peripheral plate together form the sealed chamber.

2. The glove box system according to claim 1, characterized in that: The functional units include a plurality of functional units, and the plurality of functional units are distributed around the robotic arm.

3. The glove box system according to claim 2, characterized in that: The sealed chamber has a bottom wall surface, and the robotic arm and the plurality of functional units are mounted on the bottom wall surface; The robotic arm is placed at the center of the bottom wall; The functional units far away from the robotic arm are higher than the functional units close to the robotic arm.

4. The glove box system according to claim 2, characterized in that: The functional units close to the switching device are lower than the functional units far from the switching device.

5. The glove box system according to claim 1, characterized in that: The functional unit includes at least one of an electromagnetic stirrer, an oscillator, a solution clearness detector, a powder adder, a code reader, an opening and closing cover rotator and a liquid level stratification detector.

6. The glove box system according to claim 5, characterized in that: The switch cover rotator, the liquid level stratification detector, the code reader, the powder feeder, the oscillator, the solution clear detector and the electromagnetic stirrer are sequentially surrounded by the robotic arm; The code reader is arranged close to the exchange device.

7. The glove box system according to claim 1, characterized in that: The workpiece includes a plurality of workpieces, and the glove box system further includes a storage library, which is arranged in the sealed chamber and is used to store the plurality of workpieces; Each of the working pieces can be detachably connected to the robotic arm.

8. The glove box system according to claim 7, characterized in that: The robotic arm is provided with a quick-change male head, and each of the working pieces is provided with a quick-change female head. The quick-change male head cooperates with the quick-change female head to achieve a detachable connection between the robotic arm and the working piece.

9. The glove box system according to claim 7, characterized in that: The storage reservoir includes a storage plate and multiple columns, one surface of the storage plate is fixedly connected to one end of the multiple columns, and the other ends of the multiple columns are fixedly connected to the bottom wall of the sealed chamber; the storage plate is provided with multiple accommodating holes corresponding to the number of the workpieces; at least part of the workpiece is placed in the accommodating holes.

10. The glove box system according to claim 7, characterized in that: The multiple work pieces include a first work piece and a second work piece. In the height direction of the glove box system, the height dimension of the first work piece is greater than the height dimension of the second work piece. When the first work piece and the second work piece are stored in the storage, the distance between the first work piece and the robotic arm is greater than the distance between the second work piece and the robotic arm.

11. The glove box system according to claim 1, characterized in that: The functional unit includes a solvent library, which is used to store reagents; The working piece includes a pipette, the mechanical arm is connected to the pipette, the mechanical arm drives the pipette to move, and the pipetting operation is performed in the solvent reservoir through the pipette.

12. The glove box system according to claim 11, characterized in that: The solvent library includes at least one frame, the frame includes a receiving cavity with an opening, a container carrying assembly for carrying a container is provided in the receiving cavity, and the container carrying assembly is provided with a plurality of container placement portions; The container carrying assembly is connected to the frame via a first motion mechanism, and the first motion mechanism is used to drive the container carrying assembly to move linearly at the opening; A container sealing assembly is also provided in the accommodating cavity, and the container sealing assembly is connected to the frame via a second motion mechanism; The container sealing assembly includes a sealing mechanism corresponding to the container placement portion, and the second movement mechanism is used to drive the sealing mechanism to move closer to or away from the container placement portion, so as to make the sealing mechanism seal with or disengage from the container opening of the container.

13. The glove box system according to claim 1, wherein: The functional unit includes a switch cover rotator, which is arranged on the bottom wall of the sealed chamber; the working part includes a container transfer clamp, the robotic arm is connected to the container transfer clamp and drives the container transfer clamp to move, the container transfer clamp clamps the bottle cap of the container for holding experimental supplies, the switch cover rotator clamps the bottle body of the container, and the container transfer clamp cooperates with the switch cover rotator to perform the switch cover operation on the container.

14. The glove box system according to claim 1, wherein: The glove box system further includes a cache rack, which is arranged on the bottom wall or side wall of the sealed chamber and is located away from the exchange device. The robotic arm drives the workpiece to take and place experimental supplies in the cache rack. The cache rack includes at least one layer of storage plates, and the storage plates are provided with positions for storing experimental supplies.

15. The glove box system according to claim 14, characterized in that: The cache rack further includes a fixing member provided at the position, and the fixing member is used to limit the experimental supplies to the position; The fixing member is a stepped pin, and the stepped pin is used to be plugged into a pin hole opened at the bottom of the experimental product; or The fixing member is an elastic abutment member, the position is a positioning groove, the elastic abutment member is arranged in the positioning groove, and when the experimental supplies are placed in the positioning groove, the elastic abutment member can abut against the experimental supplies and generate elastic deformation.

16. The glove box system according to claim 1, wherein: The experimental supplies are placed in a container placed in a tray, the workpiece includes a container transfer gripper and a tray transfer gripper, and the glove box system further includes: The transfer rack is arranged on the bottom wall of the sealed chamber, the robotic arm drives the tray transfer gripper to place the tray on the transfer rack, and the robotic arm drives the container transfer gripper to move the container in the tray to the functional unit.

17. The glove box system according to claim 16, characterized in that: The transfer rack includes a plurality of transfer racks of different heights, and the higher the transfer rack is, the farther it is from the robotic arm.

18. The glove box system according to claim 16, wherein: The transfer rack includes a placement plate, which is provided with a step pin, and the step pin is used to be plugged into the pin hole opened at the bottom of the pallet; and / or, pallet clamping parts are provided at both ends of the placement plate to clamp the pallet.

19. The glove box system according to any one of claims 1 to 18, characterized in that: The exchange device includes an exchange bin, a feeding mechanism, a first closing mechanism, a second closing mechanism, a vacuum mechanism, and an inflation mechanism. The exchange bin is provided with an exchange chamber, a first opening, and a second opening. The first opening and the second opening are both communicated with the exchange chamber. The feeding mechanism is located in the exchange chamber. The first closing mechanism is provided at the first opening, and the second closing mechanism is provided at the second opening. The vacuum mechanism and the inflation mechanism are respectively communicated with the exchange chamber. The first closing mechanism can close or unclose the first opening, and the second closing mechanism can close or unclose the second opening; the feeding mechanism can extend from the first opening when the first opening is unsealed; The feeding mechanism is capable of extending from the second opening when the second opening is unsealed; the vacuum mechanism is used to evacuate the exchange chamber, and the inflation mechanism is used to inflate the experimental gas into the exchange chamber under vacuum; The exchange bin passes through the box body, the first sealing mechanism is located in the sealed chamber, and the second sealing mechanism is located outside the sealed chamber.

20. The glove box system according to claim 19, wherein: The feeding mechanism includes a primary driving part, a secondary driving part and a carrying platform, wherein the primary driving part is connected to the bottom surface of the exchange chamber, the secondary driving part is slidably connected to the primary driving part, and the carrying platform is slidably connected to the secondary driving part; the primary driving part, the secondary driving part and the carrying platform are stacked in sequence along the height direction of the exchange chamber; The primary driving unit drives the secondary driving unit to move in the first direction, and the secondary driving unit drives the carrying platform to move in the first direction, so that the carrying platform extends out of the exchange chamber from the first opening; The primary driving unit drives the secondary driving unit to move in the second direction, and the secondary driving unit drives the carrying platform to move in the second direction, so that the carrying platform extends out of the exchange chamber from the second opening; The first direction and the second direction are opposite; The first direction is a direction from the second opening toward the first opening, and the second direction is a direction from the first opening toward the second opening; The first opening and the second opening are located on opposite sides of the exchange chamber.

21. The glove box system according to any one of claims 1 to 18, characterized in that: The peripheral plate is provided with a transparent area for visualization; the exchange device is arranged on the peripheral plate.

22. The glove box system according to claim 21, wherein: The box body also includes a base, which is fixed to the lower side of the second enclosing plate; the glove box system also includes a control device, an electrical device and a sealed communicator; the control device and the electrical device are located in the base, one end of the sealed communicator is located in the sealed chamber, and the other end is located in the base, so that the sealed chamber is connected to the base; the control device is electrically connected to the electrical device, one side of the sealed communicator is connected to the control device and the electrical device, and the other side of the sealed communicator is connected to the robotic arm, the functional unit and the workpiece; The control device controls the robot arm, the functional unit and / or the workpiece through the sealed communicator.

23. The glove box system according to claim 19, wherein: The glove box system further includes a mobile robot located outside the box and configured to place experimental supplies into the feeding mechanism or take out experimental supplies from the feeding mechanism when the second opening of the exchange device is opened.

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