Biological sample freezer

Abstract

The invention relates to the field of sample preservation equipment. A biological sample freezer comprises a freezer body and further comprises a material taking and placing mechanism, the material taking and placing mechanism comprises a driving device and a mechanical arm used for taking and placing materials, and the driving device drives the mechanical arm to move; a-class goods shelves and B-class goods shelves are fixed in the cabinet body. The A-type goods shelf is adjacent to or clung to at least one side wall of the cabinet body; every two B-type goods shelves are adjacent to each other or cling to each other and are arranged back to back to form a B-type goods shelf group; the two sides of the B-type goods shelf group in the width direction and the side, away from the side wall of the cabinet body, of the A-type goods shelf are provided with interval channels for the mechanical arm to walk. The width of the interval channel is larger than or equal to 0.5 times of the width of the A-type goods shelf or the B-type goods shelf. By optimizing the arrangement of the goods shelves in the cabinet body and combining the A-type goods shelves and the B-type goods shelves, the high storage capacity in the cabinet body is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of biological sample preservation equipment, and in particular to a biological sample freezer. Background Art

[0002] In the prior art, biological samples and other samples are usually stored in biological sample freezers, which are generally provided with shelves and a manipulator for walking between adjacent shelves and taking and placing materials.

[0003] The biological sample freezer in the related art is only provided with shelves adjacent to or close to the inner wall of the cabinet, which is not conducive to ensuring an increase in the amount of items placed in the cabinet. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a biological sample freezer, which has solved at least one of the above technical problems.

[0005] The technical solution of the present invention is: a biological sample freezer, comprising a cabinet body, characterized in that it also comprises a material taking and placing mechanism, the material taking and placing mechanism comprises a driving device and a manipulator for taking and placing materials, the driving device drives the manipulator to move; The cabinet is provided with Class A shelves and Class B shelves fixed therein; The Class A shelf is adjacent to or close to at least one side wall of the cabinet; The Class B shelves are arranged in pairs adjacent to or close to each other and facing each other, forming a Class B shelf group; Both sides of the B-type shelf group in the width direction and one side of the A-type shelf away from the side wall of the cabinet are provided with spacing channels for the manipulator to walk; The width of the interval channel is greater than or equal to 0.5 times the width of the Class A shelf or the Class B shelf.

[0006] The present invention optimizes the shelf arrangement in the cabinet and achieves a high storage capacity in the cabinet through the combination of Class A shelves and Class B shelves.

[0007] Close means the distance between the two is 0, and adjacent means the distance between the two is less than or equal to a set value, which can be any value between 0 and 10 cm, for example, 5 cm. Back-to-back means the two B-type shelves are located on opposite sides for loading and unloading. That is, the two B-type shelves are close to each other on the sides away from the side for loading and unloading.

[0008] The width of the interval aisle refers to the distance between a Class B shelf group and the adjacent Class A shelf or the adjacent Class B shelf group.

[0009] Further preferably, the Class A shelf is adjacent to or close to two side walls or one side wall of the cabinet along the first straight line direction; The sum of the number of Class A shelves and Class B shelves is an integer greater than or equal to 3; A single Class A shelf is one shelf unit, and a single Class B shelf group is another shelf unit; All shelf units are arranged along the first straight line direction, and there are spacing channels between adjacent shelf units. The number of the spacing channels is (the number of Class B shelves+2) / 2.

[0010] Further preferably, the Class A shelves are adjacent to or close to at least three side walls of the cabinet; The driving device comprises a lifting mechanism for driving the manipulator to move up and down, and a first rotating mechanism for driving the lifting mechanism to rotate circumferentially, wherein the rotating end of the first rotating mechanism is connected to the lifting mechanism in a transmission manner; The spacing channel is a space for the lifting mechanism to rotate.

[0011] Further preferably, the Class B shelf is provided with an avoidance space for the robot to walk and avoid.

[0012] Further preferably, the driving device is a three-axis linear slide mechanism; There is a guide column avoidance gap on the Class B shelf or between the Class B shelf and the cabinet for the longitudinal guide column movement of the three-axis linear slide mechanism; The guide column avoidance gap is connected to the avoidance space, and the avoidance space is located at the top of the Class B shelf.

[0013] Further preferably, the driving device comprises a lifting mechanism for driving the manipulator to move up and down, the lifting mechanism comprises a longitudinal guide column, the manipulator is arranged on the longitudinal guide column, and can be lifted and lowered along the longitudinal guide column; The spacing channel is used for movement avoidance of the longitudinal guide column.

[0014] Further preferably, there are at least two longitudinal guide columns, and all the longitudinal guide columns are arranged along the first straight line direction.

[0015] Further preferably, a storage and access opening is provided on the side wall of the cabinet, and the storage and access opening faces the partition channel; The longitudinal guide column is installed on a side of the manipulator away from the access port.

[0016] Further preferably, the manipulator comprises a mounting seat, a second rotating mechanism, a telescopic pick-and-place mechanism, and a rotating center offset mechanism; The mounting seat is provided with a guide hole for slidingly connecting the longitudinal guide column of the driving device; The second rotating mechanism is used to drive the telescopic pick-and-place mechanism to rotate circumferentially, and the second rotating mechanism includes a base, a driving motor and a rotating frame, the driving motor is installed on the base, and the driving motor is connected to the rotating frame through a transmission mechanism; The rotation center offset mechanism is used to drive the rotation center baseline to reciprocate along the length direction of the spacing channel during the rotation of the rotating frame.

[0017] It is convenient for the rotating frame to control the occupied space and avoid the longitudinal guide column during the rotation process.

[0018] Further preferably, the rotation center offset mechanism includes a guide assembly for guiding the base to be slidably connected with the mounting seat along the length direction of the spacing channel; The rotation center offset mechanism also includes a connecting rod, one end of which is hinged to the base, and the other end of which is hinged to the rotating frame.

[0019] Further preferably, the mounting seat is clamped between the base and the rotating frame.

[0020] Further preferably, one end of the rotating frame is an entry and exit end for extending and retracting the telescopic pick-and-place mechanism; During the rotation of the rotating frame, when the entrance and exit end faces the Class A shelf or the Class B shelf, the rotation center baseline of the rotating frame slides to the side adjacent to the guide hole; When the access end faces the access opening of the cabinet, the rotation center baseline of the rotating frame slides to a side away from the guide hole.

[0021] Further preferably, the manipulator is a steerable manipulator, a retractable manipulator, or a steerable and retractable manipulator.

[0022] Further preferably, the cabinet is provided with a storage and access opening, and the storage and access opening is directly opposite to the partition channel; The access opening is rotatably connected to a flip door; During the rotation of the rotating frame, and when the telescopic pick-and-place mechanism of the manipulator rotates from facing the Class A shelf or the Class B shelf to facing the access port, the rotating frame pushes the flip door to flip outward.

[0023] Further preferably, the inner cavity of the cabinet is divided into an equipment area and a storage area, the drive motors of different motion dimensions in the drive device are all located in the equipment area, and the storage area is installed with the Class A shelves and the Class B shelves; A partition structure is provided between the equipment area and the storage area, and a space for the movement of the manipulator is provided on the partition structure; The surroundings and bottom of the storage area are covered with a heat-insulating layer.

[0024] It is convenient to form different temperature zones in the inner cavity of the cabinet to avoid equipment failure caused by the ambient temperature in the equipment area being too low.

[0025] Beneficial Effects

[0026] The layout of the shelves has been optimized, greatly increasing the storage capacity of samples.

[0027] The structure of the manipulator is optimized to facilitate the picking and placing of materials in different directions while controlling the space required for the overall activity. The rotation center offset mechanism facilitates the non-full circle rotation of the rotating frame, which is suitable for material transfer in narrow channels. The position of the rotation center point is adjusted during the different turning processes of the rotating frame. It can also achieve the avoidance of the longitudinal guide column.

[0028] The optimization of the thermal insulation structure avoids the movement of the three-axis linear slide mechanism in the low temperature area of ​​the refrigerator. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of the cabinet in the specific embodiment 1 of the present invention; Figure 2 It is a structural schematic diagram of the cabinet structure in another perspective of the specific embodiment 1 of the present invention; Figure 3 It is a structural schematic diagram of the cabinet structure in another perspective of the specific embodiment 1 of the present invention; Figure 4 It is a structural schematic diagram of the cabinet structure in another perspective of the specific embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the arrangement of Class A shelves and Class B shelves in specific embodiment 1 of the present invention; Figure 6 This is another schematic diagram of the arrangement of the Class A shelves and the Class B shelves in the specific embodiment 1 of the present invention; Figure 7 A schematic structural diagram of a manipulator according to a specific embodiment 3 of the present invention; Figure 8 This is a schematic structural diagram of the manipulator according to the specific embodiment 3 of the present invention from another perspective; Fig. 9 It is a schematic diagram of the partial structure of the manipulator of the specific embodiment 3 of the present invention; Fig.10 It is another partial structural schematic diagram of the manipulator of specific embodiment 3 of the present invention; Fig.11 It is a schematic diagram of the partial structure of specific embodiment 4 of the present invention; Fig.12It is a schematic diagram of the local structure of specific embodiment 4 of the present invention from another perspective.

[0030] In the figure: 1 is a manipulator, 2 is a three-axis linear slide mechanism, 3 is a Class A shelf, 4 is a Class B shelf, 5 is an interval channel, 6 is an avoidance space, 11 is a mounting seat, 12 is a telescopic pick-and-place mechanism, 13 is a base, 14 is a drive motor, 15 is a rotating frame, 19 is a connecting rod, 110 is a swing arm, 111 is a guide rod, 112 is a slider, 113 is a guide groove, 114 is a guide hole, and 117 is a slide rail. Implementation

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] See also Figures 1 to 4 , Specific embodiment 1, a biological sample freezer, including a cabinet, and also including a material taking and placing mechanism, the material taking and placing mechanism includes a driving device and a manipulator 1 for taking and placing materials, the driving device drives the manipulator 1 to move; Class A shelves and Class B shelves 4 are fixed in the cabinet; Class A shelves are adjacent to or close to at least one side wall of the cabinet; Class B shelves 4 are adjacent to or close to each other and arranged back to back, as a group of Class B shelves; both sides of the Class B shelf group in the width direction and the side of the Class A shelf away from the side wall of the cabinet are provided with spacing channels for the manipulator 1 to walk; the width of the spacing channel is greater than or equal to 0.5 times the width of the Class A shelf or the Class B shelf 4. The present invention optimizes the shelf arrangement in the cabinet, and through the combination of Class A shelves and Class B shelves 4, thereby achieving a high storage capacity in the cabinet.

[0033] In some embodiments, the width of the interval channel is less than or equal to 2 times the width of the Class A shelf or Class B shelf 4. To ensure storage density. Further preferably, the width of the interval channel is less than or equal to 1.2 times the width of the Class A shelf or Class B shelf 4. Close to means that the distance between the two is 0, and adjacent to means that the distance between the two is less than or equal to a set value, which can be any value between 0 and 10 cm, for example, 5 cm.

[0034] The back-to-back arrangement means that the sides of the two B-type shelves 4 for taking and placing materials are located on opposite sides. That is, the two B-type shelves 4 are close to each other away from the side for taking and placing materials.

[0035] The width of the aisle refers to the distance between the B-type shelf group and the adjacent A-type shelf or B-type shelf group. That is, the width direction of the aisle is the material placement direction of the shelf. For example, the width direction of the aisle is the left-right direction. The left or right side of the A-type shelf or the adjacent B-type shelf group can be used to place and pick up materials. The length direction of the aisle is the front-to-back direction. The manipulator can move forward and backward, up and down to place and pick up materials at different positions of the shelf.

[0036] There are several options for shelf layout: Solution 1: Class A shelves are adjacent to or close to both side walls or one side wall of the cabinet along the first straight line direction. For example, with the first straight line direction as the left-right direction, Class A shelves are adjacent to or close to at least one of the left side wall and the right side wall of the cabinet. On the horizontal cross-section of the cabinet, the length of the cabinet in the first straight line direction can be greater than the length of the cabinet in the direction perpendicular to the first straight line. The length of the cabinet in the left-right direction can be greater than the length in the front-to-back direction, that is, Class A shelves can be close to the two side walls of the cabinet on the shorter side.

[0037] The sum of the number of Class A shelves and Class B shelves 4 is an integer greater than or equal to 3; a single Class A shelf is a shelf unit, a single Class B shelf group is another shelf unit, and a single Class B shelf group is a group of Class B shelf groups; all shelf units are arranged along the first straight line direction, and there are spacing channels between adjacent shelf units. The number of spacing channels is (the number of Class B shelves 4 + 2) / 2.

[0038] The specific shelf layout plan can be: There is one group of Class B shelves, and along the first straight line in the cabinet, there are Class A shelves, interval channels, Class B shelves, interval channels, and Class A shelves. There are 2 interval channels. There are 2 Class A shelves. There are 2 Class B shelves. The width of the interval channels is 0.5 times the width of the Class A shelves. At this time, the storage density (projected area utilization) is 4 / 5.

[0039] There is one group of Class B shelves, and along the first straight line in the cabinet, there are Class A shelves, interval channels, Class B shelves, interval channels, and Class A shelves. There are 2 interval channels. There are 2 Class A shelves. There are 2 Class B shelves. The width of the interval channels is 0.8 times the width of the Class A shelves. At this time, the storage density (projected area utilization) is 5 / 7.

[0040] There are two groups of B-type shelves. The first straight line in the cabinet is A-type shelves, interval channels, B-type shelves, interval channels, B-type shelves, interval channels, and A-type shelves. There are 3 interval channels. There are 2 A-type shelves. There are 4 B-type shelves. The width of the interval channels is 1 times the width of the A-type shelves. At this time, the storage density (projected area utilization) is 2 / 3.

[0041] There are three groups of B-type shelves. The first straight line in the cabinet is A-type shelves, interval channels, B-type shelves, interval channels, B-type shelves, interval channels, B-type shelves, interval channels, and A-type shelves. There are 4 interval channels. There are 2 A-type shelves. There are 6 B-type shelves. The width of the interval channels is 1.2 times the width of the A-type shelves. At this time, the storage density (projected area utilization) is 5 / 8.

[0042] Solution 2: Class A shelves are adjacent to or close to at least three side walls of the cabinet; the driving device includes a lifting mechanism for driving the manipulator 1 to move up and down and a first rotating mechanism for driving the lifting mechanism to rotate circumferentially, and the rotating end of the first rotating mechanism is connected to the lifting mechanism in a transmission manner; the spacing channel is a space for the lifting mechanism to rotate.

[0043] The layout of the shelves can be: Class A shelves are adjacent to or close to the three side walls of the cabinet. Class B shelves have 1 group. Figure 5 Class A shelves are adjacent to or close to the four side walls of the cabinet. Class B shelves have 1 group. Figure 6 .

[0044] The structure of the material taking and unloading mechanism can be as follows: The material picking and unloading mechanism can perform material picking and unloading operations in multiple directions. Specifically, the driving device can be a magnetic control driving device. Alternatively, the driving device can be a three-axis linear slide mechanism 2. The three-axis linear slide mechanism 2 includes an X-axis linear slide mechanism that slides along a first linear direction, a Y-axis linear slide mechanism that slides along a second linear direction, and a lifting mechanism that lifts and lowers along the longitudinal direction. The second linear direction is perpendicular to the first linear direction. The first linear direction and the second linear direction are perpendicular to the longitudinal direction.

[0045] The manipulator 1 is a steerable manipulator 1 , a retractable manipulator 1 , or a steerable and retractable manipulator 1 .

[0046] When the width of the interval channel is equal to 0.5 times the width of the A-type shelf or the B-type shelf 4, two rows of materials arranged inside and outside can be placed on the A-type shelf or the B-type shelf. After the manipulator takes out the material adjacent to the manipulator by extension, the next time the manipulator takes out the material, the manipulator continues to extend to take out the material far away from the manipulator.

[0047] Specific embodiment 2, on the basis of specific embodiment 1, a avoidance space 6 for the manipulator 1 to walk and avoid is provided on the Class B shelf 4. The avoidance space 6 is a space for the manipulator 1 to cross adjacent interval channels. The avoidance space 6 is a channel or a gap. When the avoidance space 6 is a channel, the channel can pass through the adjacent interval channels. When the avoidance space 6 is a gap, the gap is located at the top of the upper end of the Class B shelf 4 in the length direction. Reduce the size of the avoidance space 6 on the Class B shelf 4. Improve the material placement rate on the shelf. Compared with the channel-shaped avoidance space 6, the number of material placements is increased. When the manipulator 1 crosses the adjacent interval channels, the manipulator 1 can be raised to the highest point of the drive device and cross the adjacent interval channels through the gap.

[0048] Preferably, the driving device is a three-axis linear slide mechanism 2; there is a guide column avoidance gap for the longitudinal guide column movement of the three-axis linear slide mechanism 2 on the Class B shelf 4 or between the Class B shelf 4 and the cabinet; the guide column avoidance gap is connected to the avoidance space 6, and the avoidance space 6 is located at the top of the Class B shelf 4.

[0049] The driving device includes a lifting mechanism for driving the manipulator 1 to move up and down. The lifting mechanism includes a longitudinal guide column. The manipulator 1 is arranged on the longitudinal guide column and can be lifted and lowered along the longitudinal guide column. The spacing channel is used for avoiding the movement of the longitudinal guide column. When the driving mechanism drives the manipulator 1 to move in the spacing channel, the longitudinal guide column moves in the spacing channel.

[0050] The side wall of the cabinet is provided with an access opening (which can be opened and closed), and the access opening is opposite to the spacing channel; the longitudinal guide column is installed on the side of the manipulator 1 away from the access opening. Preferably, the side wall of the cabinet in the second linear direction is provided with an access opening, and the access opening is opposite to the spacing channel. The first linear direction is perpendicular to the second linear direction. There are at least two longitudinal guide columns, and all longitudinal guide columns are arranged along the first linear direction.

[0051] See also Figures 7 to 10 , Specific embodiment 3, on the basis of specific embodiment 1, the manipulator includes a mounting seat 11, a second rotating mechanism, a telescopic pick-and-place mechanism 12 and a rotation center offset mechanism; the mounting seat 11 is provided with a guide hole for a longitudinal guide column for slidingly connecting a driving device; the second rotating mechanism is used to drive the telescopic pick-and-place mechanism 12 to rotate circumferentially, and the second rotating mechanism includes a base 13, a driving motor 14 and a rotating frame 15, and the base 13 is equipped with a driving motor 14, and the driving motor 14 is connected to the rotating frame 15 through a transmission mechanism. Specifically, the driving motor 14 may be located above the base 13, and the power output shaft of the driving motor 14 is vertically arranged. It is convenient to control the occupied space. The power output shaft of the driving motor 14 is connected to a gear reduction mechanism, and the power output end of the gear reduction mechanism is connected to the rotating frame 15. The gear reduction mechanism includes a driving gear and a driven gear installed on the power output shaft of the driving motor 14. The driving gear is meshed with the driven gear. The driven gear is installed on the rotating shaft of the rotating frame 15, and the rotating shaft of the rotating frame 15 is rotatably connected to the base 13 through a bearing.

[0052] The rotation center offset mechanism is used to drive the rotation center baseline to reciprocate along the length direction of the spacing channel during the rotation of the rotating frame 15. It is convenient for the rotating frame 15 to control the occupied space and avoid the longitudinal guide column during the rotation process. The rotation center baseline is also the rotation center axis of the rotating frame, that is, the center axis of the rotation axis. When the Class A shelf is adjacent to or close to the two side walls or one side wall of the cabinet along the first straight line direction, the length direction of the spacing channel is perpendicular to the first straight line direction.

[0053] The rotation center offset mechanism may include a guide assembly for guiding the base 13 to be slidably connected with the mounting seat 11 along the length direction of the spacing channel. 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 moves along the slide rail.

[0054] The rotation center offset mechanism also includes a connecting rod 19, one end of which is hinged to the base 13, and the other end of which is hinged to the rotating frame 15. The mounting seat 11 is sandwiched between the base 13 and the rotating frame 15. The direction of the line connecting the rotation center axis of the hinged connection between the connecting rod 19 and the rotating frame 15 and the rotation center axis of the rotating frame 15 is perpendicular to the first straight line direction. The side of the rotating frame 15 adjacent to the guide hole is hinged to the connecting rod 19. And the connecting rod 19 is hinged to the side of the mounting seat 11 adjacent to the guide hole. The axial length of the connecting rod 19 is greater than the distance between the rotation center axis of the hinged connection between the connecting rod 19 and the rotating frame 15 and the rotation center axis of the rotating frame 15. In the process of the rotating frame 15 rotating 180° in the circumferential direction, when rotating from 0° to 90° in the circumferential direction, the base 13 slides from the side adjacent to the guide hole to the side away from the guide hole; when rotating from 90° to 180° in the circumferential direction, the base 13 slides from the side away from the guide hole to the side adjacent to the guide hole. When the rotating frame 15 is at 0° and 180° in the circumferential direction, the base 13 is located near the guide hole. When the rotating frame 15 is at 90° in the circumferential direction, the base 13 is located far from the guide hole.

[0055] The telescopic pick-and-place mechanism 12 includes a sliding member, which is slidably connected to the rotating frame 15 through a guide rail; the telescopic pick-and-place mechanism 12 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 15. The motor is installed on the sliding member. The sliding mode of the sliding member can 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 15. Alternatively, a roller is provided at the bottom of the sliding member. The rotating frame 15 is provided with a slide rail for guiding the sliding direction of the roller. The sliding member can 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 15 is provided with a limit protrusion extending upward. The shovel plate can slide out of the rotating frame 15 after moving to the bottom of the material, move upward, and lift the material, and then the shovel plate drives the material to slide back to the rotating frame 15. When the sliding member is a fork arm, the material is provided with a fork hole for inserting the fork arm. The fork arm slides out of the rotating frame 15 and extends into the fork hole, then moves upward to drive the material to rise, and then the fork arm drives the material to slide back to the rotating frame 15. When the sliding member is a clamping mechanism, the fork arm slides out of the rotating frame 15 and is located on both sides of the material. The clamping mechanism clamps the material and moves upward to drive the material to rise, and then the fork arm drives the material to slide back to the rotating frame 15.

[0056] One end of the rotating frame 15 is an entry and exit end for extending and retracting the telescopic pick-up and placement mechanism 12; during the rotation of the rotating frame 15, when the entry and exit end is facing the Class A shelf or the Class B shelf, the rotation center baseline of the rotating frame 15 slides to the side adjacent to the guide hole; when the entry and exit end is facing the access port opened in the cabinet, the rotation center baseline of the rotating frame 15 slides to the side away from the guide hole.

[0057] The cabinet is provided with a storage and access opening, which faces the partition channel; the storage and access opening is rotatably connected to a flip door; when the rotating frame 15 rotates and the telescopic pick-and-place mechanism 12 of the manipulator rotates from facing the A-type shelf or the B-type shelf to facing the storage and access opening, the rotating frame 15 pushes the flip door to flip outward. The storage and access opening is a window for connecting the outer side of the cabinet with the inner side of the cabinet for taking and placing materials.

[0058] Regarding the rotation mode of the access port and the flip door, the top of the flip door can be rotatably connected to the top of the access port, so that the flip door can naturally droop under the action of gravity. By pushing the flip door to flip open during the rotation of the rotating frame 15, the flip door can naturally droop and close when the rotating frame 15 is facing the shelf.

[0059] Alternatively, the left end or the right end of the flip door is hinged to the access port. A return spring is provided at the hinge of the flip door and the access port. When the rotating frame 15 switches from facing the shelf to facing the access port, the flip door is pushed during the rotation of the rotating frame 15, and the flip door overcomes the elastic force of the return spring, and the flip door flips open. When the rotating frame 15 faces the shelf, the flip door naturally droops and closes.

[0060] During the circumferential rotation of the rotating frame 15, it faces the shelf on one side of the spacing channel, the access port, and the shelf on the other side of the spacing channel in sequence. Specifically, during the circumferential rotation of the rotating frame 15 by 180°, when the circumferential rotation is from 0° to 90°, the base 13 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 13 slides from the side away from the guide hole to the side adjacent to the guide hole. The 0° and 180° circumferential rotations of the rotating frame 15 face the shelves on both sides of the spacing channel respectively. When the rotating frame 15 rotates to 90°, it faces the access port.

[0061] The rotating frame 15 may be provided with an adjacent camera device and a light source. The rotating frame 15 may be provided with a laser rangefinder for detecting the telescopic process of the material driven by the telescopic pick-and-place mechanism 12.

[0062] See also Fig.11 as well as Fig.12 Specific embodiment 4 is based on specific embodiment 1 and on the basis of the above specific embodiment 3, and the difference is that the structure of the rotation center offset mechanism is as follows: The rotation center offset mechanism includes a guide assembly for guiding the rotation center baseline of the rotating frame to slide along the length direction of the spacing channel. The rotation center baseline is also the rotation center axis of the rotating frame, that is, the center axis of the rotating shaft. When the Class A shelf is adjacent to or close to the two side walls or one side wall of the cabinet along the first straight line direction, the length direction of the spacing channel is perpendicular to the first straight line direction.

[0063] The guide assembly includes a slide rail 117 and a slider 112; the center of the slider 112 is rotatably connected to the rotating frame through a bearing; the power output end of the drive motor is connected to one end of a swing arm 110 through a gear transmission mechanism, and the other end of the swing arm 110 is movably connected to a guide rod 111, and the guide rod 111 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 113 for guiding the movement of the guide rod 111, and the guide groove 113 is U-shaped. The guide hole 114 and the open end of the guide groove are arranged on different sides of the mounting seat. For example, when the guide hole 114 is located on the left side of the mounting seat, the open end of the guide groove is located on the right side of the mounting seat, and the open end of the guide groove faces right.

[0064] The other end of the swing arm 110 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.

[0065] The mounting seat is provided with a swing arm 110 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.

[0066] 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.

[0067] 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 110 to swing, the first straight end of the guide groove is driven to slide outward along the first straight direction (the rotating frame slides from the side adjacent to the guide hole 114 to the side away from the guide hole 114, that is, the rotation center axis moves from the side adjacent to the guide hole 114 to the side away from the guide hole 114), and the rotating frame is driven to rotate along the arc end of the guide groove (to achieve a 180° rotation of the rotating frame), and finally, the rotating frame is retracted inward along the second straight end of the guide groove 113 (the rotating frame slides from the side away from the guide hole 114 to the side adjacent to the guide hole 114, 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 111 is opened on the swing arm 110, and the length direction of the waist-shaped hole is parallel to the length direction of the swing arm 110.

[0068] Figures 9 and 10 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.

[0069] Specific embodiment 5, based on specific embodiment 1, the inner cavity of the cabinet is divided into an equipment area and a storage area, the drive motors of different movement dimensions in the drive device are all located in the equipment area, and the storage area is installed with Class A shelves and Class B shelves; a partition structure is provided between the equipment area and the storage area, and a space for the movement of the manipulator is provided on the partition structure; the storage area is covered with an insulation layer around and on the bottom. This facilitates forming different temperature zones in the inner cavity of the cabinet to avoid equipment failures caused by too low ambient temperature in the equipment area. The partition structure can be an insulation board.

[0070] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A biological sample freezer, comprising a cabinet body, It is characterized in that It also includes a material taking and placing mechanism, which includes a driving device and a manipulator for taking and placing materials, and the driving device drives the manipulator to move; The cabinet is provided with Class A shelves and Class B shelves fixed therein; The Class A shelf is adjacent to or close to at least one side wall of the cabinet; The Class B shelves are arranged in pairs adjacent to or close to each other and facing each other, forming a Class B shelf group; Both sides of the B-type shelf group in the width direction and one side of the A-type shelf away from the side wall of the cabinet are provided with spacing channels for the manipulator to walk; The width of the interval channel is greater than or equal to 0.5 times the width of the Class A shelf or the Class B shelf.

2. The biological sample freezer according to claim 1, Features: The Class A shelf is adjacent to or close to two side walls or one side wall of the cabinet along the first straight line direction; The sum of the number of Class A shelves and Class B shelves is an integer greater than or equal to 3; A single Class A shelf is one shelf unit, and a single Class B shelf group is another shelf unit; All shelf units are arranged along the first straight line direction, and there are spacing channels between adjacent shelf units. The number of the spacing channels is (the number of Class B shelves+2) / 2.

3. The biological sample freezer according to claim 1, Features: The Class A shelves are adjacent to or close to at least three side walls of the cabinet; The driving device comprises a lifting mechanism for driving the manipulator to move up and down, and a first rotating mechanism for driving the lifting mechanism to rotate circumferentially, wherein the rotating end of the first rotating mechanism is connected to the lifting mechanism in a transmission manner; The spacing channel is a space for the lifting mechanism to rotate.

4. The biological sample freezer according to claim 1, Features: The Class B shelves are provided with avoidance spaces for the manipulator to walk and avoid.

5. The biological sample freezer according to claim 4, Features: The driving device is a three-axis linear slide mechanism; There is a guide column avoidance gap on the Class B shelf or between the Class B shelf and the cabinet for the longitudinal guide column movement of the three-axis linear slide mechanism; The guide column avoidance gap is connected to the avoidance space, and the avoidance space is located at the top of the Class B shelf.

6. The biological sample freezer according to claim 1, Features: The driving device comprises a lifting mechanism for driving the manipulator to move up and down, the lifting mechanism comprises a longitudinal guide column, the manipulator is arranged on the longitudinal guide column, and can be lifted and lowered along the longitudinal guide column; The spacing channel is used for movement avoidance of the longitudinal guide column.

7. The biological sample freezer according to claim 6, Features: A storage and access opening is provided on the side wall of the cabinet, and the storage and access opening faces the partition channel; The longitudinal guide column is installed on a side of the manipulator away from the access port.

8. The biological sample freezer according to claim 6, Features: The manipulator comprises a mounting seat, a second rotating mechanism, a telescopic pick-and-place mechanism and a rotating center offset mechanism; The mounting seat is provided with a guide hole for slidingly connecting the longitudinal guide column of the driving device; The second rotating mechanism is used to drive the telescopic pick-and-place mechanism to rotate circumferentially, and the second rotating mechanism includes a base, a driving motor and a rotating frame, the driving motor is installed on the base, and the driving motor is connected to the rotating frame through a transmission mechanism; The rotation center offset mechanism is used to drive the rotation center baseline to reciprocate along the length direction of the spacing channel during the rotation of the rotating frame.

9. The biological sample freezer according to claim 8, Features: The rotation center offset mechanism includes a guide assembly for guiding the base to be slidably connected with the mounting seat along the length direction of the spacing channel; The rotation center offset mechanism also includes a connecting rod, one end of which is hinged to the base, and the other end of which is hinged to the rotating frame.

10. The biological sample freezer according to claim 8, Features: The mounting seat is sandwiched between the base and the rotating frame.

11. The biological sample freezer according to claim 8, Features: One end of the rotating frame is an entry and exit end for the telescopic pick-and-place mechanism to extend and retract; During the rotation of the rotating frame, when the entrance and exit end faces the Class A shelf or the Class B shelf, the rotation center baseline of the rotating frame slides to the side adjacent to the guide hole; When the access end faces the access opening of the cabinet, the rotation center baseline of the rotating frame slides to a side away from the guide hole.

12. The biological sample freezer according to claim 1, Features: The manipulator is a steerable manipulator, a retractable manipulator, or a steerable and retractable manipulator.

13. The biological sample freezer according to claim 1, Features: The cabinet body is provided with a storage and access opening, and the storage and access opening is directly opposite to the partition passage; The access opening is rotatably connected to a flip door; During the rotation of the rotating frame, and when the telescopic pick-and-place mechanism of the manipulator rotates from facing the Class A shelf or the Class B shelf to facing the access port, the rotating frame pushes the flip door to flip outward.

14. The biological sample freezer according to claim 1, Features: The inner cavity of the cabinet is divided into an equipment area and a storage area, the drive motors of different motion dimensions in the drive device are all located in the equipment area, and the storage area is installed with the Class A shelves and the Class B shelves; A partition structure is provided between the equipment area and the storage area, and a space for the movement of the manipulator is provided on the partition structure; The surroundings and bottom of the storage area are covered with a heat-insulating layer.

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