Cryopreservation box tube picking equipment and biological sample library

Abstract

The invention relates to the technical field of low-temperature tube picking equipment, in particular to cryopreservation box tube picking equipment and a biological sample library, and aims at solving the problems that an existing tube picking device is low in tube placing precision, small in universality and unstable in structure. In order to achieve the purpose, the cryopreservation box tube picking equipment comprises a base fixedly arranged; the objective table and the pipe jacking and clamping device are arranged on the base, the objective table is arranged to be capable of placing a cryopreservation box, and the pipe jacking and clamping device is arranged to be capable of jacking and clamping cryopreservation pipes in the cryopreservation box; the box pressing device and the box pushing device are arranged on the objective table, the box pressing device is arranged to be capable of pressing the cryopreservation box downwards and pushing the cryopreservation box to move in the X direction, and the box pushing device is arranged to be capable of pushing the cryopreservation box to move in the Y direction. The cryopreservation box positioning device can meet the positioning requirements for cryopreservation boxes of different specifications and sizes and is wider in application range.

Description

Technical Field

[0001] The invention relates to the technical field of low-temperature tube picking equipment, and specifically provides a cryopreservation box tube picking equipment and a biological sample library. Background Art

[0002] In the biomedical field, sample freezing equipment is used to store biological samples such as blood samples, vaccines, bacteria and viruses at low temperatures, so that the samples are kept in liquid nitrogen for long-term active preservation. The equipment stores multiple sample boxes, and multiple cryotubes are arranged in the sample boxes.

[0003] The cryopreservation device is provided with a tube picking device, which includes a box pressing mechanism and a tube clamping mechanism. The box pressing mechanism can press down the sample box to fix it, and the tube clamping mechanism can clamp the target cryopreservation tube and place it in a designated position. The existing tube picking device has the following defects:

[0004] 1. When the clamping mechanism grabs the target cryotube, the cryotube is prone to tilt or shake, which reduces the accuracy of placing the tube;

[0005] 2. The box pressing mechanism cannot meet the positioning requirements for cryopreservation boxes of different specifications and sizes, and the structure is unstable.

[0006] Accordingly, this field requires a new technical solution to solve the above technical problems. Summary of the invention

[0007] The present invention aims to solve the above technical problem, that is, to solve the problems of low pipe placing accuracy, low versatility and unstable structure of the existing pipe lifting device.

[0008] In a first aspect, the present invention provides a freezing box tube picking device, the freezing box tube picking device comprising: a base, the base is fixedly arranged; a loading platform and a tube-pushing device arranged on the base, the loading platform is arranged to place the freezing box, and the tube-pushing device is arranged to push out and clamp the freezing tubes in the freezing box; a box pressing device and a box pushing device are arranged on the loading platform, the box pressing device is arranged to press down the freezing box and push the freezing box to move along the X direction, and the box pushing device is arranged to push the freezing box to move along the Y direction, so as to realize the positioning of the freezing box on the loading platform.

[0009] In a specific embodiment of the above-mentioned freezing box tube picking device, the tube pushing and clamping device includes: a fixing member, which is fixedly arranged on the base; a first driving assembly, a first transmission assembly, a first sliding member, a second sliding member, a first connecting member and a tube clamping mechanism, wherein the first driving assembly is fixedly arranged on the fixing member, the driving end of the first driving assembly is connected to the first transmission assembly, the first transmission assembly is fixedly arranged on the first sliding member, the first connecting member is connected to the first sliding member, the tube clamping mechanism is fixedly arranged on the first connecting member and is located above the stage, the first connecting member is slidably arranged on the second sliding member, the first driving assembly drives the first transmission assembly to drive the first sliding member to move up and down relative to the fixing member and the first connecting member to move up and down relative to the second sliding member, thereby driving the tube clamping mechanism to move up and down, and the tube clamping mechanism is configured to be able to clamp the freezing tubes in the freezing box; a tube pushing mechanism, the tube pushing mechanism is arranged on the second sliding member and is located below the stage, and the tube pushing mechanism is configured to be able to push out the freezing tubes in the freezing box.

[0010] In a specific embodiment of the above-mentioned freezing box tube picking device, the tube jacking and clamping device also includes: a tube clamping positioning mechanism, the tube clamping positioning mechanism is configured to fix the clamped freezing tube, the tube clamping positioning mechanism is fixedly arranged on the second sliding member, and the tube clamping center of the tube clamping positioning mechanism is concentrically arranged with the tube clamping center of the tube clamping mechanism in the vertical direction.

[0011] In a specific embodiment of the above-mentioned freezing box tube picking device, the tube pushing and clamping device also includes: a second driving assembly, a second transmission assembly and a second connecting member, the second driving assembly is fixedly arranged on the first connecting member, the driving end of the second driving assembly is connected to the second transmission assembly, the second transmission assembly is fixedly arranged on the second connecting member, the second connecting member is connected to the first sliding member, the first connecting member can be slidably arranged on the second connecting member, the tube pushing mechanism is arranged on the second sliding member, the second sliding member can be slidably arranged on the fixed member, and the second driving assembly drives the second transmission assembly to drive the first connecting member and the second sliding member to move along the Y direction, thereby driving the tube clamping mechanism, the tube pushing mechanism and the tube clamping positioning mechanism to move along the Y direction.

[0012] In a specific embodiment of the above-mentioned freezing box tube picking device, the tube pushing mechanism includes a third driving assembly, a third transmission assembly, a support member and a tube pushing member, the third driving assembly is fixedly arranged on the support member, the driving end of the third driving assembly is connected to the third transmission assembly, the third transmission assembly is fixedly arranged on the second sliding member, the support member extends along the Y direction and the tube pushing member is arranged on the support member, the third driving assembly drives the third transmission assembly to drive the support member to move up and down relative to the second sliding member, and then drives the tube pushing member to push out the freezing tube in the freezing box.

[0013] In a specific embodiment of the above-mentioned freezing box tube picking device, at least two first hollow parts are arranged on the loading platform, and the freezing box is placed in each of the first hollow parts.

[0014] In a specific embodiment of the above-mentioned freezing box tube picking device, the box pressing device includes: a fourth driving component, a fourth transmission component and a box pressing plate, the fourth driving component is fixedly arranged on the stage, the driving end of the fourth driving component is connected to the fourth transmission component, the box pressing plate is fixed on the fourth transmission component, a second hollow portion is arranged on the box pressing plate, the second hollow portion corresponds to and penetrates one of the first hollow portions, the surface of the box pressing plate in contact with the freezing box is arranged as an inclined surface, and the fourth driving component drives the fourth transmission component to drive the box pressing plate to move downward relative to the stage, thereby pressing down the freezing box and pushing the freezing box to move along the X direction.

[0015] In a specific embodiment of the above-mentioned freezing box tube picking device, the box pushing device includes a fifth driving assembly, a fifth transmission assembly and a pushing rod. The fifth driving assembly is fixedly arranged on the stage, and the driving end of the fifth driving assembly is connected to the fifth transmission assembly. The pushing rod passes through the stage along the X direction and is rotatably arranged on the stage. The pushing rod is connected to the fifth transmission assembly, and a pushing block is obliquely arranged on the pushing rod. The fifth driving assembly drives the fifth transmission assembly to drive the pushing rod to rotate, and then pushes the freezing box to move along the Y direction through the pushing block.

[0016] In a specific embodiment of the above-mentioned freezing box tube picking device, the freezing box tube picking device also includes: a sixth drive assembly and a sixth transmission assembly, the sixth drive assembly is fixedly arranged on the base, the driving end of the sixth drive assembly is connected to the sixth transmission assembly, the sixth transmission assembly is arranged on the stage, and the sixth drive assembly drives the sixth transmission assembly to drive the stage to move along the X direction relative to the base.

[0017] In a second aspect, the present invention further provides a biological sample library, comprising the cryopreservation box tube picking device as described above.

[0018] In the case of adopting the above technical solution, the present invention pushes the freezing box to move along the Y direction on the stage through the box pushing device, and the box pressing device pushes the freezing box to move along the X direction on the stage while pressing the freezing box downward, so as to realize the positioning of the freezing box on the stage, and the positioning of the freezing box on the stage is carried out separately in the X direction and the Y direction, which can realize the positioning requirements of freezing boxes of different specifications and sizes, and has a wider range of applications, and then the tube jacking and clamping device moves to the coordinate position of the target freezing tube, takes out the target freezing tube and places it in another empty freezing box, thereby completing the tube picking process. ;

[0019] Furthermore, the present invention provides a tube clamping positioning mechanism. Since the tube clamping mechanism may cause the target cryogenic tube to tilt or shake easily when clamping the target cryogenic tube, in order to ensure the tube clamping accuracy, the tube clamping positioning mechanism clamps the end of the cryogenic tube to correct the position of the cryogenic tube. After the tube clamping mechanism releases the cryogenic tube, it continues to clamp it. The tube clamping positioning mechanism plays a role of secondary positioning of the cryogenic tube, thereby improving the clamping accuracy of the cryogenic tube and further improving the subsequent tube placement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0021] Figure 1 It is a structural schematic diagram of the freezing box tube picking device of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the freezing box tube picking device of the present invention in another direction;

[0023] Figure 3 It is a structural schematic diagram of the pipe jacking mechanism in the freezing box pipe lifting device of the present invention;

[0024] Figure 4 It is a structural schematic diagram of a medium-pressure box device of a freezing box tube picking device of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the sixth driving assembly and the sixth transmission assembly in the freezing box tube picking device of the present invention;

[0026] Among them: 1. base; 2. loading platform; 21. first hollow part; 3. pipe jacking clamping device; 31. fixing member; 32. first driving assembly; 33. first transmission assembly; 331. first gear; 332. first rack; 34. first sliding member; 35. second sliding member; 36. first connecting member; 37. pipe clamping mechanism; 38. pipe clamping positioning mechanism; 39. pipe jacking mechanism; 391. third driving assembly; 392. third transmission assembly; 3921. third gear; 3922. third rack; 393. supporting member; 394. pipe jacking member; 310. second driving assembly ; 311, second transmission assembly; 3111, second gear; 3112, second rack; 312, second connecting piece; 4, box pressing device; 41, fourth drive assembly; 42, fourth transmission assembly; 421, fourth gear; 422, fourth rack; 43, box pressing plate; 431, second hollow portion; 432, inclined plane; 5, box pushing device; 51, fifth drive assembly; 52, fifth transmission assembly; 53, pushing rod; 54, pushing block; 6, sixth drive assembly; 7, sixth transmission assembly; 71, sixth gear; 72, sixth rack; 8, freezing box; 9, freezing tube. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not used to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0028] It should be noted that in the description of the present invention, the terms "X direction", "Y direction" and other terms indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the relevant devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, ordinal numbers such as "first" to "sixth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0029] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] like Figure 1 and Figure 2As shown, the freezing box tube picking device includes: a base 1, which is fixedly arranged; a loading platform 2 and a tube-pushing and clamping device 3 arranged on the base 1, the loading platform 2 is arranged to be able to place a freezing box 8, and two first hollow portions 21 are arranged on the loading platform 2, and a freezing box 8 is placed in each first hollow portion 21, one of the freezing boxes 8 is an empty freezing box 8, and the other freezing box 8 contains a freezing box 8 with a freezing tube 9, and the tube-pushing and clamping device 3 is arranged to be able to push out and clamp the freezing tube 9 in the freezing box 8; a box pressing device 4 and a box pushing device 5 are arranged on the loading platform 2, the box pressing device 4 is arranged to be able to press down the freezing box 8 and push the freezing box 8 to move along the X direction, and the box pushing device 5 is arranged to be able to push the freezing box 8 to move along the Y direction.

[0031] Specifically, the shovel plate places the freezing box 8 with the freezing tube 9 on the stage 2, and the box pushing device 5 pushes the freezing box 8 to move on the stage 2 along the Y direction. The box pressing device 4 pushes the freezing box 8 to move on the stage 2 along the X direction while pressing the freezing box 8 downward to achieve the positioning of the freezing box 8 on the stage 2, and the positioning of the freezing box 8 on the stage 2 is carried out separately in the X direction and the Y direction, which can meet the positioning requirements of freezing boxes 8 of different specifications and sizes, and has a wider range of applications. Then, the tube jacking clamping device 3 moves to the coordinate position of the target freezing tube 9, takes out the target freezing tube 9 and places it in another empty freezing box 8, thereby completing the tube picking process.

[0032] like Figure 1 and Figure 2 As shown, the top tube clamping device 3 includes: a fixing member 31, which is fixedly arranged on the base 1; a first driving component 32, a first transmission component 33, a first sliding component 34, a second sliding component 35, a first connecting member 36 and a tube clamping mechanism 37, wherein the first driving component 32 is fixedly arranged on the fixing member 31, the driving end of the first driving component 32 is connected to the first transmission component 33, the first transmission component 33 is fixedly arranged on the first sliding component 34, the first connecting member 36 is connected to the first sliding member 34, the tube clamping mechanism 37 is configured to be able to clamp the cryopreservation tube 9 in the cryopreservation box 8, the tube clamping mechanism 37 is fixedly arranged on the first connecting member 36 and is located above the stage 2, and the first connecting member 36 is slidably arranged on the second sliding member 35.

[0033] In some embodiments, illustratively, the fixing member 31 is configured as an L-shaped vertical plate, the first transmission assembly 33 includes a first gear 331 and a first rack 332 that are meshed and connected, the first driving assembly 32 is fixed on the L-shaped vertical plate, and its driving end is connected to the first gear 331, and the first rack 332 is fixed on the first sliding member 34. The first driving assembly 32 transmits power to the first rack 332 through the first gear 331, so as to drive the first sliding member 34 to move up and down relative to the fixing member 31 and the first connecting member 36 to move up and down relative to the second sliding member 35, thereby driving the tube clamping mechanism 37 to move up and down, so that the tube clamping mechanism 37 can clamp the cryopreservation tube 9 in the cryopreservation box 8.

[0034] Continue as Figure 1 and Figure 2 As shown, the tube clamping device 3 also includes: a tube clamping positioning mechanism 38, which is configured to fix the clamped cryotube 9, and the tube clamping positioning mechanism 38 is fixedly set on the second sliding member 35, and the tube clamping center of the tube clamping positioning mechanism 38 is concentric with the tube clamping center of the tube clamping mechanism 37 in the vertical direction.

[0035] Specifically, the vertical displacement of the tube clamping positioning mechanism 38 does not change. The tube clamping mechanism 37 first moves downward to the position of the target cryogenic tube 9 relative to the second sliding member 35, and clamps the target cryogenic tube 9, and then moves upward to the top of the tube clamping positioning mechanism 38 relative to the second sliding member 35. Since the tube clamping mechanism 37 may cause the target cryogenic tube 9 to tilt and shake easily when clamping the target cryogenic tube 9, in order to ensure the tube clamping accuracy, at this time, the tube clamping positioning mechanism 38 clamps the end of the cryogenic tube 9 to correct the position of the cryogenic tube 9. After the tube clamping mechanism 37 releases the cryogenic tube 9, it continues to clamp it. The tube clamping positioning mechanism 38 plays a role in secondary positioning of the cryogenic tube 9, thereby improving the clamping accuracy of the cryogenic tube 9 and further improving the subsequent tube placement accuracy.

[0036] In some embodiments, illustratively, the tube clamping mechanism 37 and the tube clamping positioning mechanism 38 have the same structure and can be set to pneumatic clamps, servo electric clamps, etc. Those skilled in the art can make a choice based on actual conditions, and the present invention does not impose any limitations on this.

[0037] like Figure 1-Figure 3 As shown, the tube-pushing and clamping device 3 further includes: a tube-pushing mechanism 39, which is disposed on the second sliding member 35 and is located below the stage 2, and is configured to push out the cryotube 9 in the cryobox 8. When the clamping mechanism 37 moves downward to the position of the target cryotube 9, the tube-pushing mechanism 39 pushes up the target cryotube 9 from its bottom, and the clamping mechanism 37 clamps the target cryotube 9 and moves upward to take out the target cryotube 9.

[0038] Specifically, the jacking mechanism 39 includes a third driving component 391, a third transmission component 392, a support member 393 and a jacking component 394. The third driving component 391 is fixedly arranged on the support member 393. The driving end of the third driving component 391 is connected to the third transmission component 392. The third transmission component 392 is fixedly arranged on the second sliding member 35. The support member 393 extends along the Y direction and a jacking component 394 is arranged on the support member 393.

[0039] In some embodiments, illustratively, the third transmission assembly 392 includes a third gear 3921 and a third rack 3922 that are meshed and connected, the driving end of the third driving assembly 391 is connected to the third gear 3921, and the third rack 3922 is fixed on the second sliding member 35. The third driving assembly 391 transmits power to the third rack 3922 through the third gear 3921 to drive the support member 393 and the third driving assembly 391 itself fixed on the support member 393 to move up and down relative to the second sliding member 35, thereby driving the ejecting tube member 394 to eject the cryopreservation tube 9 in the cryopreservation box 8.

[0040] like Figure 1 and Figure 2 As shown, the pipe jacking clamping device 3 also includes: a second driving component 310, a second transmission component 311 and a second connecting member 312. The second driving component 310 is fixedly arranged on the first connecting member 36. The driving end of the second driving component 310 is connected to the second transmission component 311. The second transmission component 311 is fixedly arranged on the second connecting member 312. The second connecting member 312 is connected to the first sliding member 34. The first connecting member 36 is slidably arranged on the second connecting member 312. The pipe jacking mechanism 39 is arranged on the second sliding member 35. The second sliding member 35 is slidably arranged on the fixing member 31.

[0041] In some embodiments, illustratively, the second transmission assembly 311 includes a second gear 3111 and a second rack 3112 that are meshed and connected, the driving end of the second driving assembly 310 is connected to the second gear 3111, and the second rack 3112 is fixed on the second connecting member 312. The second driving assembly 310 transmits power to the second rack 3112 through the second gear 3111, so that the first connecting member 36 moves relative to the second connecting member 312 along the Y direction, thereby driving the second sliding member 35, the first connecting member 36, and the second driving assembly 310 itself fixed on the first connecting member 36 to move along the Y direction, thereby driving the tube clamping mechanism 37, the tube jacking mechanism 39, and the tube clamping positioning mechanism 38 to move along the Y direction.

[0042] like Figure 1 , Figure 2 and Figure 5As shown, the freezing box tube picking device also includes: a sixth driving assembly 6 and a sixth transmission assembly 7. The sixth driving assembly 6 is fixedly arranged on the base 1. The driving end of the sixth driving assembly 6 is connected to the sixth transmission assembly 7. The sixth transmission assembly 7 is arranged on the stage 2.

[0043] In some embodiments, illustratively, the sixth transmission assembly 7 includes a sixth gear 71 and a sixth rack 72 that are meshed and connected, the driving end of the sixth drive assembly 6 is connected to the sixth gear 71, and the sixth rack 72 is fixed to the bottom of the stage 2. The sixth drive assembly 6 transmits power to the sixth rack 72 through the sixth gear 71 to drive the stage 2 to move relative to the base 1 along the X direction.

[0044] Specifically, based on the above structure, the stage 2 can drive the cryogenic box 8 to achieve changes in displacement in the X direction, the tube clamping mechanism 37, the tube pushing mechanism 39 and the tube clamping positioning mechanism 38 can achieve changes in displacement in the Y direction, and the tube clamping mechanism 37 can achieve changes in vertical displacement, thereby being able to move to the coordinate position of the target cryogenic tube 9 to achieve the purpose of clamping the target cryogenic tube 9.

[0045] like Figure 1 , Figure 2 and Figure 4 As shown, the box pressing device 4 includes: a fourth driving component 41, a fourth transmission component 42 and a box pressing plate 43. The fourth driving component 41 is fixedly arranged on the stage 2. The driving end of the fourth driving component 41 is connected to the fourth transmission component 42. The box pressing plate 43 is fixed on the fourth transmission component 42. A second hollow portion 431 is arranged on the box pressing plate 43. The second hollow portion 431 corresponds to and penetrates one of the first hollow portions 21. The surface of the box pressing plate 43 in contact with the freezing box 8 is arranged as an inclined surface 432. The inclined surface 432 is arranged at the front end and the rear end of the bottom of the box pressing plate 43. The inclined surface 432 is gradually inclined from bottom to top, so that the box pressing plate 43 can press the freezing box 8 downward while moving the freezing box 8 along the inclined surface 432 in the X direction. The box pressing plate 43 is a frame structure with a hollow center, which can accommodate a freezing box 8. When the box pressing plate 43 moves downward, it can press two freezing boxes 8 at the same time and push the two freezing boxes 8 to move along the X direction. The box pressing plate 43 is evenly stressed and is not easily deformed. In addition, the box pressing plate 43 presses the freezing box 8 downward to avoid the freezing box 8 being lifted up when picking up the tube, thereby ensuring the smooth picking of the tube.

[0046] In some embodiments, illustratively, the fourth transmission assembly 42 includes a fourth gear 421 and a fourth rack 422 that are meshed and connected, the driving end of the fourth driving assembly 41 is connected to the fourth gear 421, and the fourth rack 422 is fixedly connected to the box pressing plate 43. The fourth driving assembly 41 transmits power to the fourth rack 422 through the fourth gear 421 to drive the box pressing plate 43 to move downward relative to the stage 2, and the inclined surface 432 on the box pressing plate 43 can push the freezing box 8 to move along the X direction while pressing the freezing box 8 downward.

[0047] It should be noted that the inclined surface 432 mentioned above can be a structure integrated with the pressing box plate 43, or a detachable pressing box block can be provided at the bottom of the pressing box plate 43, and the surface of the pressing box block in contact with the freezing box 8 is set as the inclined surface 432. Those skilled in the art can make a choice according to actual conditions, and the present invention does not impose any restrictions on this.

[0048] like Figure 1 and Figure 2 As shown, the box pushing device 5 includes a fifth driving component 51, a fifth transmission component 52 and a pushing rod 53. The fifth driving component 51 is fixedly arranged on the stage 2, and the driving end of the fifth driving component 51 is connected to the fifth transmission component 52. The pushing rod 53 penetrates the stage 2 along the X direction and is rotatably arranged on the stage 2. The pushing rod 53 is connected to the fifth transmission component 52, and a pushing block 54 is obliquely arranged on the pushing rod 53.

[0049] In some embodiments, illustratively, the fifth transmission assembly 52 includes two meshingly connected fifth gears, the fifth driving assembly 51 is connected to one of the fifth gears, and the other fifth gear is connected to the push rod 53. The fifth driving assembly 51 transmits power to the two fifth gears in sequence to drive the push rod 53 to rotate, so that the push block 54 on the push rod 53 rotates toward the direction of the freezing box 8. Since the push block 54 is tilted, the freezing box 8 is pushed to move along the Y direction by the push block 54 while the push block 54 rotates. Among them, the size of the fifth gear connected to the fifth driving assembly 51 is smaller than the size of the fifth gear connected to the push rod 53, so that the fifth driving assembly 51 can drive the push rod 53 to rotate with a smaller force output.

[0050] It should be noted that the push block 54 can be integrally formed on the push rod 53, or can be detachably fixedly connected. The number and inclination angle of the push block 54 on the push rod 53 are set by technical personnel in this field according to actual needs, and the present invention does not impose any limitation on this.

[0051] In some embodiments, illustratively, the first drive assembly 32 to the sixth drive assembly 6 can be configured as a stepper motor, a servo motor, and the like.

[0052] It should be noted that the specific structural forms of the above-mentioned first transmission assembly 33 to the fourth transmission assembly 42 and the sixth transmission assembly 7 are not limited to the above-mentioned "gear + rack" structural form. For example, the transmission assembly can also be set to a "screw rod + nut" structural form, and the specific structural form of the above-mentioned fifth transmission assembly 52 is not limited to the above-mentioned "gear + gear" structural form. For example, the transmission assembly can also be set to a "conveyor belt + transmission wheel" structural form. Such adjustments and changes to the specific structural forms of the transmission assembly do not deviate from the principles and scope of the present invention, and should be limited within the protection of the present invention. Of course, it is preferred to set the transmission assembly to the "gear + rack" and "gear + gear" structural forms introduced above, which have simple structure, low maintenance cost, stable operation and high operation accuracy. In addition, the gear rack has good structural strength and is not easily deformed in a low-temperature working environment, thereby ensuring the normal operation of the transmission device.

[0053] Based on the above embodiments, the present invention further provides a biological sample library, wherein the biological sample library comprises the freezing box tube picking device as described above.

[0054] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A freezing box tube picking device, characterized in that: The freezing box tube picking device comprises: A base, wherein the base is fixedly arranged; A loading platform and a tube-pushing clamping device are arranged on the base, wherein the loading platform is arranged to be able to place the freezing box, and the tube-pushing clamping device is arranged to be able to push out and clamp the freezing tube in the freezing box; A box pressing device and a box pushing device are arranged on the stage, wherein the box pressing device is configured to press down the freezing box and push the freezing box to move along the X direction, and the box pushing device is configured to push the freezing box to move along the Y direction to achieve the positioning of the freezing box on the stage.

2. The freezing box tube picking device according to claim 1, characterized in that: The pipe jacking and clamping device comprises: A fixing member, wherein the fixing member is fixedly disposed on the base; A first driving assembly, a first transmission assembly, a first sliding member, a second sliding member, a first connecting member and a tube clamping mechanism, wherein the first driving assembly is fixedly arranged on the fixing member, a driving end of the first driving assembly is connected to the first transmission assembly, the first transmission assembly is fixedly arranged on the first sliding member, the first connecting member is connected to the first sliding member, the tube clamping mechanism is fixedly arranged on the first connecting member and is located above the stage, the first connecting member is slidably arranged on the second sliding member, the first driving assembly drives the first transmission assembly to drive the first sliding member to move up and down relative to the fixing member and the first connecting member to move up and down relative to the second sliding member, thereby driving the tube clamping mechanism to move up and down, and the tube clamping mechanism is configured to be able to clamp the cryopreservation tubes in the cryopreservation box; A tube-pushing mechanism is disposed on the second sliding member and is located below the loading platform, and the tube-pushing mechanism is configured to be able to push out the cryotubes in the cryobox.

3. The freezing box tube picking device according to claim 2, characterized in that: The pipe jacking and clamping device further comprises: The tube clamping positioning mechanism is configured to fix the clamped cryotube, the tube clamping positioning mechanism is fixedly arranged on the second sliding member, and the tube clamping center of the tube clamping positioning mechanism is concentrically arranged with the tube clamping center of the tube clamping mechanism in the vertical direction.

4. The freezing box tube picking device according to claim 3, characterized in that: The pipe jacking and clamping device further comprises: A second driving assembly, a second transmission assembly and a second connecting member, the second driving assembly is fixedly arranged on the first connecting member, the driving end of the second driving assembly is connected to the second transmission assembly, the second transmission assembly is fixedly arranged on the second connecting member, the second connecting member is connected to the first sliding member, the first connecting member is slidably arranged on the second connecting member, the jacking mechanism is arranged on the second sliding member, the second sliding member is slidably arranged on the fixed member, the second driving assembly drives the second transmission assembly to drive the first connecting member and the second sliding member to move along the Y direction, thereby driving the pipe clamping mechanism, the pipe jacking mechanism and the pipe clamping positioning mechanism to move along the Y direction.

5. The freezing box tube picking device according to claim 2, characterized in that: The tube-pushing mechanism includes a third driving assembly, a third transmission assembly, a support member and a tube-pushing member. The third driving assembly is fixedly arranged on the support member. The driving end of the third driving assembly is connected to the third transmission assembly. The third transmission assembly is fixedly arranged on the second sliding member. The support member extends along the Y direction and the tube-pushing member is arranged on the support member. The third driving assembly drives the third transmission assembly to drive the support member to move up and down relative to the second sliding member, thereby driving the tube-pushing member to push out the cryogenic tube in the cryogenic box.

6. The freezing box tube picking device according to claim 1, characterized in that: At least two first hollow parts are arranged on the stage, and the freezing box is placed in each of the first hollow parts.

7. The freezing box tube picking device according to claim 6, characterized in that: The box pressing device comprises: A fourth driving assembly, a fourth transmission assembly and a box pressing plate, wherein the fourth driving assembly is fixedly arranged on the stage, the driving end of the fourth driving assembly is connected to the fourth transmission assembly, the box pressing plate is fixed on the fourth transmission assembly, a second hollow portion is arranged on the box pressing plate, the second hollow portion corresponds to and penetrates one of the first hollow portions, the surface of the box pressing plate in contact with the freezing box is arranged as an inclined surface, and the fourth driving assembly drives the fourth transmission assembly to drive the box pressing plate to move downward relative to the stage, thereby pressing down the freezing box and pushing the freezing box to move along the X direction.

8. The freezing box tube picking device according to claim 1, characterized in that: The box pushing device comprises: A fifth driving assembly, a fifth transmission assembly and a pushing rod, wherein the fifth driving assembly is fixedly arranged on the stage, the driving end of the fifth driving assembly is connected to the fifth transmission assembly, the pushing rod passes through the stage along the X direction and is rotatably arranged on the stage, the pushing rod is connected to the fifth transmission assembly, a pushing block is obliquely arranged on the pushing rod, the fifth driving assembly drives the fifth transmission assembly to drive the pushing rod to rotate, and then pushes the freezing box to move along the Y direction through the pushing block.

9. The freezing box tube picking device according to claim 1, characterized in that: The freezing box tube picking device also includes: A sixth drive assembly and a sixth transmission assembly, wherein the sixth drive assembly is fixedly disposed on the base, a driving end of the sixth drive assembly is connected to the sixth transmission assembly, the sixth transmission assembly is disposed on the stage, and the sixth drive assembly drives the sixth transmission assembly to drive the stage to move along the X direction relative to the base.

10. A biological sample library, characterized in that: The biological sample library comprises the freezing box tube picking device as described in any one of claims 1 to 9.

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