Temperature-partitioned low-temperature biological sample storage cabinet

Abstract

The low-temperature biological sample preservation cabinet comprises a cabinet body, a sampling mechanism and a refrigerating mechanism, wherein a sample outlet is formed in the cabinet body, and a sample layer and an equipment layer are arranged in the cabinet body; a biological sample rack and a sampling walking channel are arranged in the sample layer; the biological sample rack is used for placing a biological sample, and a gap or a temperature isolation device is arranged between the sample layer and the equipment layer; the sampling mechanism comprises a manipulator mechanism and a driving system, the driving system is mounted in the equipment layer and is used for driving the manipulator mechanism to move in the sampling walking channel, and the manipulator mechanism is used for taking and placing a biological sample; and the refrigeration mechanism is used for controlling the temperature of the sample layer to be not higher than-70 DEG C and controlling the temperature of the equipment layer to be not lower than-50 DEG C. The driving system is arranged in the medium-temperature area, so that the requirement for the cold resistance of the driving system is lowered, and the equipment cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of biological sample preservation, and in particular relates to a temperature-zoned low-temperature biological sample preservation cabinet. Background Art

[0002] A low-temperature biological sample storage cabinet is a professional refrigerator that uses a low-temperature environment of no more than -70°C to store biological samples such as clinical biological samples. Since the storage temperature provided by the low-temperature biological sample storage cabinet is no more than -70°C, the drive system used to drive the manipulator in the low-temperature biological sample storage cabinet must have good low-temperature resistance, and the low-temperature drive system is expensive, which raises the cost of the equipment. Therefore, how to develop a new type of biological sample storage cabinet to overcome the above problems is a direction that technicians in this field need to further study. Summary of the invention

[0003] The object of the present invention is to provide a temperature-zoned low-temperature biological sample storage cabinet, which does not require the drive system to be set in a low-temperature environment not higher than -70°C, thereby reducing the equipment cost.

[0004] The technical solution provided by the present invention is a temperature-zoned low-temperature biological sample storage cabinet, which includes: a cabinet body, a sampling mechanism and a refrigeration mechanism; wherein: The cabinet is provided with a sample outlet, and a sample layer and an equipment layer are provided in the cabinet; a biological sample rack and a sampling walking channel are arranged in the sample layer; the biological sample rack is used to place biological samples, and a gap or a temperature isolation device is provided between the sample layer and the equipment layer; The sampling mechanism includes a manipulator mechanism and a drive system, wherein the drive system is installed in the equipment layer and is used to drive the manipulator mechanism to move in the sampling walking channel, and the manipulator mechanism is used to take and place the biological sample; The refrigeration mechanism is used to control the temperature of the sample layer within a temperature range not higher than -70°C, and to control the temperature of the equipment layer within a temperature range not lower than -50°C.

[0005] Preferably, the sampling mechanism adopts fully automated equipment.

[0006] Preferably, the device layer is arranged above, below or on the side of the sample layer.

[0007] Preferably, a gap is provided between the sample layer and the device layer, and the gap is any value between 80 mm and 200 mm.

[0008] Preferably, the equipment layer is arranged above the sample layer, and the temperature isolation device comprises temperature isolation foam, and the temperature isolation foam is fixed to the top of the sample layer as a whole.

[0009] Preferably, a temperature isolation device is provided between the sample layer and the equipment layer, and a channel for connecting the sample layer and the equipment layer is provided on the temperature isolation device; one end of the manipulator passes through the channel and is connected to the driving motor.

[0010] Preferably, an inspection port is provided on the cabinet, the sampling mechanism comprises a mounting frame, the drive system is mounted on the mounting frame, and the mounting frame, the drive motor and the manipulator are configured to synchronously slide and pull out the inspection port.

[0011] Preferably, supporting bars are symmetrically installed on two opposite side walls in the cabinet, the supporting bars extend toward the maintenance opening, the installation frame is a rectangular frame, and two side edges of the installation frame are respectively placed on the supporting bars.

[0012] Preferably, a protrusion perpendicular to the supporting bar is provided at one end of each supporting bar facing away from the maintenance opening, a positioning groove is provided on each protrusion, and a positioning pin corresponding to the positioning groove is provided on the installation frame.

[0013] Preferably, the drive system includes a vertical drive motor, a transverse drive motor and a longitudinal drive motor, and a three-axis transmission mechanism installed on the installation frame, and the three-axis transmission mechanism is respectively connected to the manipulator mechanism, the vertical drive motor, the transverse drive motor and the longitudinal drive motor; the vertical drive motor is driven by the three-axis transmission mechanism to drive the manipulator to move in the vertical direction; the transverse drive motor is driven by the three-axis transmission mechanism to drive the manipulator to move in the horizontal transverse direction; the longitudinal drive motor is driven by the three-axis transmission mechanism to drive the manipulator to move in the horizontal longitudinal direction.

[0014] Preferably, the biological sample rack comprises a first rack and a second rack, the first rack is symmetrically arranged on two opposite inner walls of the cabinet, and the second rack is located between the first racks and arranged parallel to the first racks.

[0015] Preferably, the second frame can be further configured as at least two back-to-back bidirectional frames respectively parallel to the first frame.

[0016] Preferably, the sampling walking channel includes a first walking channel arranged between the first frame and the second frame, or between two adjacent second frames, and a second walking channel connecting each of the first walking channels.

[0017] Preferably, an air avoidance passage is provided on the frame of the second frame, and the height of the air avoidance passage is not lower than the height of the manipulator mechanism.

[0018] Preferably, the manipulator mechanism comprises: A material taking arm, the material taking arm is used to take and place the low-temperature biological sample; The steering mechanism comprises: a rotating frame, a manipulator motor and an offset guide mechanism; the material picking arm is installed on the rotating frame, and the offset guide mechanism is connected to the rotating frame; the manipulator motor is respectively connected to the rotating frame and the offset guide mechanism, and is used to drive the rotating frame to rotate, and is used to drive the offset guide mechanism to move, driving the rotating frame to slide and offset in the direction of the central axis during rotation.

[0019] Compared with the prior art, the present invention has the following advantages: First, the present invention realizes temperature zoning in the cabinet, and sets the biological sample in a low-temperature area and the drive system in a medium-temperature area, thereby reducing the cold resistance requirements for the drive system and reducing equipment costs.

[0020] Secondly, the present invention can realize the removal, maintenance and replacement of the motor, thereby improving the work efficiency of equipment maintenance.

[0021] Thirdly, the present invention improves the space utilization rate in the cabinet from multiple dimensions and increases the storage capacity of biological samples.

[0022] Finally, the present solution has a simple structure, is easy to prepare, and can be mass-produced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of Example 1, in which the manipulator mechanism is omitted.

[0024] Figure 2 This is a schematic diagram of the state of the sampling mechanism in Example 1 when it is pulled out of the cabinet. The biological sample rack is omitted in this figure.

[0025] Figure 3 for Figure 2 A partial enlarged view of .

[0026] Figure 4 Schematic diagram of the connection relationship between the support bar and the installation frame in Example 1.

[0027] Figure 5 Schematic diagram of the sampling mechanism and biological sample rack in Example 1.

[0028] Figure 6 for Figure 5 Schematic side view of .

[0029] Figure 7 Schematic diagram of the structure of the manipulator mechanism in Example 1.

[0030] Figure 8 This is a schematic diagram of the structure of the robot mechanism from another angle.

[0031] Fig. 9 A schematic diagram of a structure of a specific embodiment 5 of the present invention from a first viewing angle; Fig.10 A schematic diagram of a structure of a specific embodiment 5 of the present invention from a second viewing angle; Fig.11 It is a schematic diagram of a first partial structure of a specific embodiment 5 of the present invention; Fig.12 It is a schematic diagram of a second partial structure of a specific embodiment 5 of the present invention; Fig.13 It is a schematic diagram of a local structure of a specific embodiment 6 of the present invention from a first viewing angle; Fig.14 It is a second viewing angle schematic diagram of the local structure of specific embodiment 6 of the present invention; Fig.15 A schematic diagram of a partial structure of a specific embodiment 6 of the present invention from a third viewing angle; In the figure, the component names corresponding to the reference numerals are as follows: 100, cabinet body; 110, cabinet door; 120, sample outlet; 300. Sampling agency; 310, support bar; 320, mounting frame; 321, positioning pin; 311, convex block; 411, vertical drive motor; 412, vertical screw rod; 413, mounting block; 421, horizontal drive motor; 423, mounting plate; 424, horizontal rack belt; 431, longitudinal drive motor; 432, longitudinal transmission chain; 433, second driven wheel; 434, guide bar; 500, manipulator mechanism; 510, mounting base, 520, material taking arm; 530, base; 540, manipulator motor; 550, rotating frame; 590, connecting rod.

[0032] 610. Temperature isolation foam.

[0033] 810, first frame; 820, second frame; 830, first walking passage; 840, second walking passage; 841, air avoidance passage.

[0034] 1 is a mounting base, 2 is a mechanical arm, 3 is a base, 4 is a driving motor, 5 is a rotating frame, 9 is a connecting rod, 10 is a swing arm, 11 is a guide rod, 12 is a slider, 13 is a guide groove, 14 is a guide hole, 17 is a slide rail, and 18 is a guide assembly. DETAILED DESCRIPTION

[0035] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] The present embodiment provides a temperature-zoned low-temperature biological sample storage cabinet, which includes a cabinet 100, a sampling mechanism 300 and a refrigeration mechanism. The cabinet 100 is provided with a sample outlet 120 (which can be opened and closed), and the cabinet 100 is provided with a sample layer and an equipment layer; the sample layer is provided with a biological sample rack 210 and a sampling walking channel; the biological sample rack 210 is used to place biological samples, and a gap or a temperature isolation device is provided between the sample layer and the equipment layer; the sampling mechanism 300 includes a manipulator mechanism 500 and a drive system, the drive system is installed in the equipment layer, and the drive system is used to drive the manipulator mechanism 500 to move in the sampling walking channel, and the manipulator mechanism 500 is used to take and place biological samples; the refrigeration mechanism is used to control the temperature of the sample layer within a temperature range not higher than -70°C, and the temperature of the equipment layer within a temperature range not lower than -50°C.

[0037] This embodiment realizes temperature zoning in the cabinet 100, sets the biological sample in a low temperature area and sets the drive system in a medium temperature area, thereby reducing the cold resistance requirements for the drive system and reducing equipment costs.

[0038] Example 1, please refer to Figure 1-8 : A temperature-zoned low-temperature biological sample preservation cabinet comprises: a cabinet body 100, a sampling mechanism 300 and a refrigeration mechanism.

[0039] The cabinet 100 is provided with a sample outlet 120, and the cabinet 100 is provided with a sample layer and an equipment layer. In this example, the equipment layer is arranged above the sample layer. A biological sample rack 210 and a sampling walking channel are arranged in the sample layer; the biological sample rack 210 is used to place biological samples, and a temperature isolation device is arranged between the sample layer and the equipment layer. In this example: the temperature isolation device adopts a temperature isolation foam 610 (in other embodiments, other insulation materials such as foaming can also be used), and the temperature isolation foam 610 is fixed to the top of the sample layer as a whole (in other embodiments, it can also be detachably connected). And the temperature isolation foam 610 is provided with a channel connecting the sample layer and the equipment layer.

[0040] The sampling mechanism 300 includes a manipulator mechanism 500 and a drive system, wherein the drive system is installed in the equipment layer and is used to drive the manipulator mechanism 500 to move in the sampling walking channel, and the manipulator mechanism 500 is used to take and place the biological sample; in this example, the sampling mechanism 300 adopts a fully automated equipment, and one end of the manipulator mechanism 500 passes through the channel and is connected to the drive motor.

[0041] The refrigeration mechanism (which may be a compression type, semiconductor type or other refrigerator) is used to control the temperature of the sample layer within a temperature range not higher than -70°C, and the temperature of the device layer within a temperature range not lower than -50°C. The refrigerator is preferably disposed away from the device layer. In this example: the refrigerator is disposed near the bottom of the sample layer.

[0042] On this basis, in order to further improve the rapid removal and maintenance of the sampling mechanism 300 and reduce the cold air loss caused by the maintenance, in this example, the accommodating cavity (divided into a sample layer and an equipment layer) of the cabinet 100 has an opening, which is opened and closed by a cabinet door 110. The cabinet door 110 also has an inspection port (which can be opened and closed), and the cabinet door can be connected to a lateral side of the cabinet, such as the left or right side, that is, the cabinet door 110 can be a side-opening door. The sampling mechanism 300 includes a mounting frame 320, and the drive motor is mounted on the mounting frame 320. The mounting frame 320, the drive motor and the manipulator are configured to be able to synchronously slide and pull out the inspection port. Specifically, support bars 310 are symmetrically installed on the opposite side walls in the cabinet 100, and the support bars 310 extend toward the maintenance port. The mounting frame 320 is a rectangular frame, and the two side edges of the mounting frame 320 are respectively placed on the support bars 310. By adopting this technical solution, when maintenance is required, the installation frame 320 can be dragged to slide and pull the installation frame 320 along the support bar 310, driving the driving device and the manipulator mechanism 500 to synchronously move out of the cabinet 100 from the inspection port. In practice, a slide groove can also be provided on the support bar 310, and a roller or a slider corresponding to the slide groove can be provided on the installation frame 320 to realize rolling and pulling of the installation frame 320 along the support bar 310.

[0043] In this example, each of the support bars 310 is provided with a protrusion 311 perpendicular to the support bar 310 at one end facing away from the maintenance port, each of the protrusions 311 is provided with a positioning groove, and the installation frame 320 is provided with a positioning pin 321 corresponding to the positioning groove. By adopting this technical solution: in the process of installing the repaired drive mechanism and manipulator mechanism 500 into the cabinet 100, the positioning groove and the positioning pin 321 cooperate to achieve rapid installation and positioning between the two.

[0044] In this example: the drive system includes a vertical drive motor 411, a transverse drive motor 421 and a longitudinal drive motor 431 and a three-axis transmission mechanism connected to the mounting frame 320, and the three-axis transmission mechanism is respectively connected to the manipulator mechanism 500, the vertical drive motor 411, the transverse drive motor 421 and the longitudinal drive motor 431; the vertical drive motor 411 is driven by the three-axis transmission mechanism to drive the manipulator to move in the vertical direction; the transverse drive motor 421 is driven by the three-axis transmission mechanism to drive the manipulator to move in the horizontal transverse direction; the longitudinal drive motor 431 is driven by the three-axis transmission mechanism to drive the manipulator to move in the horizontal longitudinal direction.

[0045] Specifically, the drive system includes a vertical drive component and a two-dimensional linear slide mechanism. The vertical drive component includes a vertical drive motor 411, a vertical screw rod 412, a mounting block 413, a vertical transmission chain and a first driven wheel; the vertical screw rod 412, the vertical drive motor 411 and the first driven wheel are respectively fixed on the mounting block 413, a first gear is coaxially mounted on the output shaft of the vertical drive motor 411, and the vertical transmission chain is meshed with the first gear and the first driven wheel respectively; the mechanical glove is connected to the rod body of the vertical screw rod 412 and is fixedly connected to the chain of the vertical transmission chain.

[0046] The two-dimensional linear slide mechanism is connected to the vertical drive assembly and is used to drive the vertical drive assembly to move in the horizontal transverse direction and the horizontal longitudinal direction. Specifically, the two-dimensional linear slide mechanism includes: a transverse drive motor 421, a transverse screw rod, a mounting plate 423, a transverse rack belt 424, a longitudinal drive motor 431, a longitudinal transmission chain 432, a second driven wheel 433, and a guide bar 434. The transverse screw rod and the transverse rack belt 424 are respectively fixed on the mounting plate 423, the mounting block 413 is sleeved on the rod body of the transverse screw rod, the transverse drive motor 421 is fixed on the mounting plate 423, and a second gear is coaxially mounted on the output shaft of the transverse drive motor 421, and the second gear is meshed and connected with the transverse rack plate. The longitudinal motor, the guide bar 434 and the second driven wheel 433 are fixed on the mounting frame 320; a third gear is coaxially mounted on the output shaft of the longitudinal drive motor 431; the longitudinal transmission chain 432 is respectively meshed and connected with the third gear and the second driven wheel; the guide bar 434 is clamped on the mounting plate 423; and the mounting plate 423 is connected to the longitudinal transmission chain 432.

[0047] In this example, the biological sample rack 210 includes a first rack 810 and a second rack 820. The first rack 810 is symmetrically arranged on two opposite inner walls in the cabinet 100, and the second rack 820 is located between the first racks 810 and is arranged parallel to the first rack 810. The number of the second racks 820 can be one, or at least two back-to-back bidirectional racks that are parallel to the first racks 810. The sampling walking channel includes a first walking channel 830 arranged between the first rack 810 and the second rack 820, or between two adjacent second racks 820, and a second walking channel 840 that connects each of the first walking channels 830. By adopting this technical solution, the storage capacity of the cabinet 100 can be greatly improved.

[0048] In this example, the second frame 820 is also provided with an air avoidance channel 841, and the height of the air avoidance channel 841 is not lower than the height of the manipulator mechanism 500. Specifically, in this example, the air avoidance channel 841 is arranged on the second frame 820 near the second walking channel 840. By adopting this technical solution: the manipulator mechanism 500 is enabled to cross between adjacent first walking channels 830, thereby reducing the design width of the second walking channel 840. In this example, the air avoidance channel 841 is arranged at the top of the second frame 820. In practice, it can also be designed at the waist of the second frame 820 or other positions.

[0049] In this example, the manipulator mechanism 500 includes: In this example, the manipulator mechanism 500 includes: a material taking arm 520 and a steering mechanism. The material taking arm 520 is used to take and place the low-temperature biological sample; the steering mechanism includes: a rotating frame 550, a manipulator motor 540, an offset guide mechanism and a base 530. The material taking arm 520 is installed on the rotating frame 550, and the manipulator motor 540 is installed on the base 530. The offset guide mechanism includes a mounting seat 510 and a connecting rod 590. Among them, the mounting seat 510 is installed between the base 530 and the rotating frame 550, and the mounting seat 510 is slidably connected with the base 530 along a straight line direction. One end of the connecting rod 590 is hinged to the base 530, and the other end is hinged to the rotating frame 550. During the rotation of the rotating frame 550, the connecting rod 590 drives the base 530 to slide relative to the mounting seat 510 along the first straight line direction. By adopting this technical solution: this solution adds a rotation center offset mechanism, so that the rotating frame 550 can achieve synchronous sliding offset of the rotation center axis during the rotation process, thereby achieving adjustment of the extension length of the rotating frame 550 at different rotation positions.

[0050] Embodiment 2:

[0051] Compared with Example 1, Example 2 is different in that: in this example, no temperature isolation device is provided between the sample layer and the equipment layer, and a gap layer is provided between the sample layer and the equipment layer, and the height of the gap layer is any value between 80 mm and 200 mm. Compared with Example 1: in this example, the air filled in the gap is relied upon as a poor thermal conductor to form a temperature step between the sample layer and the equipment layer. Therefore, the overall design height of the cabinet 100 is higher than the design height of the cabinet 100 of Example 1, under the premise that the sample layer and the equipment layer remain unchanged. However, the advantage is that there is no need to set a temperature isolation device, and the installation and production efficiency are high.

[0052] Embodiment 3:

[0053] The difference between Example 3 and Example 1 is that in this example, the equipment layer is located directly below the sample layer. The top of the biological sample rack 210 in the sample layer is fixed to the inner top wall of the cabinet 100 .

[0054] Embodiment 4:

[0055] Compared with Example 1, Example 4 is different in that: in this example, the sample layer and the device layer are arranged in the horizontal direction in the cabinet 100. Specifically, the device layer is arranged on the horizontal right side of the cabinet 100, the sample layer is arranged on the horizontal left side of the cabinet 100, and one end of the biological sample rack 210 is fixed to the left side wall of the cabinet 100.

[0056] Embodiment 5:

[0057] See also Figures 9 to 12 The manipulator mechanism can be a material transfer device, which includes a manipulator arm 2 for picking up and placing materials; it also includes a steering mechanism, which includes a base 3, a drive motor 4 and a rotating frame 5, the drive motor 4 is installed on the base 3, and the drive motor 4 is used to drive the rotating frame 5 to rotate; the manipulator arm 2 is installed on the rotating frame 5; it also includes a rotation center offset mechanism, which is used to drive the rotation center axis of the rotating frame 5 to translate along the first straight line direction when the rotating frame 5 moves, and the drive motor 4 is also used to drive the rotation center offset mechanism to move; the center axis direction of the rotating frame 5 is perpendicular to the first straight line direction.

[0058] The present invention optimizes the material transfer device, and the driving motor 4 can drive the rotating frame 5 to adjust in multiple directions. At the same time, by adding a rotation center offset mechanism, it is convenient to realize that the rotating frame 5 does not rotate in situ during the rotation process. The rotation center axis of the rotating frame 5 produces a sliding offset during the rotation process, which facilitates the adjustment of the extension length of the rotating frame 5 at different rotation positions. That is, the extension length of the rotating frame 5 along the length direction of the shelf gap (the horizontal direction perpendicular to the arrangement direction of the adjacent shelves) is greater than the extension length of the rotating frame 5 in the direction of the adjacent shelves (the arrangement direction of the adjacent shelves), which meets the normal rotation in the narrow channel. The space required for the rotation of the rotating frame 5 is effectively controlled, and the steering of the material transfer device is guaranteed.

[0059] The mechanical arm 2 includes a sliding member for picking up and placing materials, and the sliding member is slidably connected to the rotating frame 5 through a guide rail; the mechanical arm 2 also includes a driving mechanism for driving the sliding member to move linearly along the guide rail. The driving mechanism includes a motor, and the power output end of the motor is connected to a gear, and the gear is meshed with a spur rack installed on the rotating frame 5. The motor is installed on the sliding member.

[0060] The sliding mode of the sliding member may be that a slider is provided at the bottom of the sliding member, and a slide rail slidably connected to the slider is provided on the rotating frame 5. Alternatively, a roller is provided at the bottom of the sliding member. The rotating frame 5 is provided with a slide rail for guiding the sliding direction of the roller. The sliding member may be a shovel plate, a fork arm or a clamping mechanism. When the sliding member is a shovel plate, the end of the shovel plate slidingly extending out of the rotating frame 5 is provided with a limit protrusion extending upward. The shovel plate can slide out of the rotating frame after moving to the bottom of the material, move upward, lift the material, and then the shovel plate drives the material to slide back to the rotating frame. When the sliding member is a fork arm, the material is provided with a fork hole for inserting the fork arm. After the fork arm slides out of the rotating frame and extends into the fork hole, it moves upward to drive the material to rise, and then the fork arm drives the material to slide back to the rotating frame. When the sliding member is a clamping mechanism, the fork arm slides out of the rotating frame and is located on both sides of the material. The clamping mechanism clamps the material, moves upward, drives the material to rise, and then the fork arm drives the material to slide back to the rotating frame.

[0061] It also includes a mounting seat 1, which is used to support the steering mechanism. A guide hole 14 for slidingly connecting a guide column is opened on one side of the mounting seat 1. At least two guide holes can be provided. At least two guide holes can be arranged along a second straight line direction perpendicular to the first straight line direction. When the rotation center axis moves translationally along the first straight line direction, the rotation center axis moves from the side adjacent to the guide hole 14 to the side away from the guide hole 14, or the rotation center axis moves from the side away from the guide hole 14 to the side adjacent to the guide hole 14. The rotation center offset mechanism is used to achieve the rotation frame 5 avoiding the guide column during the rotation process. The guide column can be a guide column whose guiding direction is the vertical direction. The guide column is used to guide the mounting seat 1 to rise and fall.

[0062] The drive motor 4 is located on either side of the rotating frame 5 in the direction of the central axis of the guide hole. The space occupied by the control device as a whole is controlled. The size of the occupied channel is controlled. Specifically, the longitudinal axis direction of the guide hole may be the vertical direction. The drive motor 4 is located above the base 3, and the power output shaft of the drive motor 4 is arranged vertically. It is convenient to control the occupied space.

[0063] The power output shaft of the driving motor 4 is connected to a gear reduction mechanism, and the power output end of the gear reduction mechanism is connected to the rotating frame 5. The gear reduction mechanism includes a driving gear and a driven gear mounted on the power output shaft of the driving motor 4. The driving gear meshes with the driven gear. The driven gear is mounted on the rotating shaft of the rotating frame 5, and the rotating shaft of the rotating frame 5 is rotatably connected to the base 3 through a bearing.

[0064] The rotation center offset mechanism includes a guide assembly 18 for guiding the base 3 to be slidably connected with the mounting seat 1 along the first linear direction. The guide assembly includes a slide rail and a slider that match each other. Alternatively, the guide assembly includes a slide rail and a rolling wheel that travels along the slide rail. One end of the connecting rod 9 is hinged to the base 3, and the other end of the connecting rod 9 is hinged to the rotating frame 5. During the rotation of the rotating frame 5, the connecting rod 9 drives the base 3 to slide with the mounting seat 1 along the first linear direction to achieve translational movement of the rotation center axis. The base 3 can be slidably connected with the mounting seat 1 along the first linear direction. The connection direction of the rotation center axis at the hinge of the connecting rod and the rotating frame and the rotation center axis of the rotating frame is parallel to the first linear direction. The side of the rotating frame adjacent to the guide hole is hinged to the connecting rod. And the connecting rod is hinged to the side of the mounting seat adjacent to the guide hole. The axial length of the connecting rod is greater than the distance between the rotation center axis at the hinge of the connecting rod and the rotating frame and the rotation center axis of the rotating frame.

[0065] During the circumferential rotation of the rotating frame 5 by 180°, when the circumferential rotation is from 0° to 90°, the base 3 slides from the side adjacent to the guide hole to the side away from the guide hole; when the circumferential rotation is from 90° to 180°, the base 3 slides from the side away from the guide hole to the side adjacent to the guide hole. Fig. 9 as well as Fig.10 , which shows a schematic diagram of the structure of the rotating frame 5 in a 90° position. When the rotating frame 5 rotates to 0° and 180°, the materials on two adjacent groups of shelves can be switched and placed.

[0066] When the device is used, the mounting seat 1 can be mounted on the lifting slide of the three-axis linear module, so as to realize the three-dimensional movement of the whole device.

[0067] Embodiment 6:

[0068] See also Figures 13 to 15 , the structure of the rotation center offset mechanism. Specifically, it can be as follows: The rotation center offset mechanism includes a guide assembly for guiding the rotation center axis of the rotating frame to slide along the first straight line direction. The guide assembly includes a slide rail 17 and a slider 12; the center of the slider 12 is rotatably connected to the rotating frame through a bearing; the power output end of the drive motor is connected to one end of the swing arm 10 through a gear transmission mechanism, and the other end of the swing arm 10 is movably connected to a guide rod 11, and the guide rod 11 is connected to the rotating frame; the base and the slide rail are installed on the mounting seat, and the mounting seat is provided with a guide groove 13 for guiding the movement of the guide rod 11, and the guide groove 13 is U-shaped.

[0069] A guide hole 14 for slidingly connecting the guide column is provided on one side of the mounting seat 1. The opening ends of the guide hole and the guide groove are arranged on different sides of the mounting seat. For example, when the guide hole is located on the left side of the mounting seat, the opening end of the guide groove is located on the right side of the mounting seat, and the opening end of the guide groove faces rightward.

[0070] The other end of the swing arm 10 is movably connected to the guide rod, and the swing arm is provided with a long guide hole. The length direction of the guide hole is parallel to the length direction of the swing arm. The end of the guide rod is rotatably and slidably installed in the guide hole. For example, a nut is threadedly connected to the end of the guide rod. The guide hole includes an upper part and a lower part arranged up and down, the upper part is a nut movable groove, and the lower part is a guide rod sliding groove. The projection area of ​​the inner contour of the upper part is located outside the projection area of ​​the inner contour of the lower part.

[0071] The mounting seat is provided with a swing arm 10 and a rotating frame on different sides along the rotation center axis direction. The center axis direction of the bearing is the rotation center axis direction of the rotating frame.

[0072] The base is mounted on the mounting base, and the base and the mounting base may be an integrated structure. Alternatively, the base and the mounting base may be detachably connected. Alternatively, the base and the mounting base may be fixedly connected by welding or other fixed connection methods.

[0073] The guide groove includes two straight ends arranged side by side (respectively a first straight end and a second straight end), and the two straight ends are connected by an arc end. When the driving motor drives the swing arm 10 to swing, the driving motor drives the rotating frame to slide outward along the first straight direction along the first straight end of the guide groove (the rotating frame slides from the side adjacent to the guide hole 14 to the side away from the guide hole 14, that is, the rotation center axis moves from the side adjacent to the guide hole 14 to the side away from the guide hole 14), drives the rotating frame to rotate along the arc end of the guide groove (realizes the rotating frame to rotate 180°), and finally, drives the rotating frame to retract inward along the second straight end of the guide groove 13 (the rotating frame slides from the side away from the guide hole 14 to the side adjacent to the guide hole 14, that is, the rotation center axis moves from the side away from the guide hole 14 to the side adjacent to the guide hole 14). A waist-shaped hole for the movement of the guide rod 11 is opened on the swing arm 10, and the length direction of the waist-shaped hole is parallel to the length direction of the swing arm 10.

[0074] Figures 13 to 15 In FIG. 1 , a schematic diagram of the structure of the rotating frame is shown when the rotating frame is in the 0° position. At this time, the guide rod 11 is located at the end of the guide groove. When the rotating frame rotates to 0° and 180°, the materials on the two adjacent groups of shelves can be switched and placed.

[0075] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A temperature-zoned low-temperature biological sample storage cabinet. It is characterized in that include: Cabinet, sampling mechanism and refrigeration mechanism; wherein, The cabinet is provided with a sample outlet, and a sample layer and an equipment layer are provided in the cabinet; a biological sample rack and a sampling walking channel are arranged in the sample layer; the biological sample rack is used to place biological samples, and a gap or a temperature isolation device is provided between the sample layer and the equipment layer; The sampling mechanism includes a manipulator mechanism and a drive system, wherein the drive system is installed in the equipment layer and is used to drive the manipulator mechanism to move in the sampling walking channel, and the manipulator mechanism is used to take and place the biological sample; The refrigeration mechanism is used to control the temperature of the sample layer within a temperature range not higher than -70°C, and to control the temperature of the equipment layer within a temperature range not lower than -50°C.

2. According to the low-temperature biological sample storage cabinet of claim 1, the equipment layer is arranged above, below or on the side of the sample layer.

3. The low-temperature biological sample storage cabinet according to claim 1, It is characterized in that A gap is provided between the sample layer and the device layer, and the gap is any value between 80 mm and 200 mm.

4. The low-temperature biological sample storage cabinet according to claim 1, It is characterized in that The equipment layer is arranged above the sample layer, and the temperature isolation device comprises temperature isolation foam, and the temperature isolation foam is fixed to the top of the sample layer as a whole.

5. The low-temperature biological sample storage cabinet according to claim 1, It is characterized in that A temperature isolation device is provided between the sample layer and the equipment layer, and a channel is provided on the temperature isolation device to conduct the sample layer and the equipment layer; one end of the manipulator passes through the channel and is connected to the driving motor.

6. The low-temperature biological sample storage cabinet according to claim 2 or 4, It is characterized in that The cabinet is provided with an inspection port, the sampling mechanism comprises a mounting frame, the driving motor is mounted on the mounting frame, and the mounting frame, the driving system and the manipulator are configured to synchronously slide and pull out the inspection port.

7. The low-temperature biological sample storage cabinet according to claim 5, It is characterized in that Support bars are symmetrically installed on two opposite side walls in the cabinet, and the support bars extend toward the maintenance opening. The installation frame is a rectangular frame, and two side edges of the installation frame are respectively placed on the support bars.

8. The low-temperature biological sample storage cabinet according to claim 6, It is characterized in that A protrusion perpendicular to the supporting bar is provided at one end of each supporting bar facing away from the maintenance opening, a positioning groove is provided on each protrusion, and a positioning pin corresponding to the positioning groove is provided on the installation frame.

9. The low-temperature biological sample storage cabinet according to claim 5, It is characterized in that The driving system includes a vertical driving motor, a transverse driving motor and a longitudinal driving motor, and a three-axis transmission mechanism installed on the installation frame, wherein the three-axis transmission mechanism is respectively connected to the manipulator mechanism, the vertical driving motor, the transverse driving motor and the longitudinal driving motor; the vertical driving motor is driven by the three-axis transmission mechanism to drive the manipulator to move in the vertical direction; the transverse driving motor is driven by the three-axis transmission mechanism to drive the manipulator to move in the horizontal transverse direction; the longitudinal driving motor is driven by the three-axis transmission mechanism to drive the manipulator to move in the horizontal longitudinal direction.

10. The low-temperature biological sample storage cabinet according to claim 1, It is characterized in that The biological sample rack includes a first rack and a second rack. The first rack is symmetrically arranged on two opposite inner walls of the cabinet. The second rack is located between the first racks and arranged parallel to the first racks. The second rack is configured as a back-to-back bidirectional rack.

11. The low-temperature biological sample storage cabinet according to claim 1, It is characterized in that The manipulator mechanism comprises: A material taking arm, the material taking arm is used to take and place the low-temperature biological sample; The steering mechanism comprises: a rotating frame, a manipulator motor and an offset guide mechanism; the material picking arm is installed on the rotating frame, and the offset guide mechanism is connected to the rotating frame; the manipulator motor is respectively connected to the rotating frame and the offset guide mechanism, and is used to drive the rotating frame to rotate, and is used to drive the offset guide mechanism to move, driving the rotating frame to slide and offset in the direction of the central axis during rotation.

Images