Cryopreservation device

Abstract

The embodiment of the invention relates to the technical field of low-temperature storage equipment, in particular to a cryopreservation device. According to the embodiment of the invention, the storage cavity and the cache cavity are arranged. And a transfer table is arranged in the cache cavity and is used for transferring the sample boxes. The transfer table is provided with a first moving mechanism to drive the sample box to move along a first direction; an elastic component is arranged to be in elastic contact with the sample box so as to limit the position of the sample box in the second direction; the limiting component is driven by the first moving mechanism to move in the first direction. When the limiting component moves to be in contact with the sample box in the first direction and limits the position of the sample box in the first direction, the elastic component is also in elastic contact with the sample box so as to limit the position of the sample box in the second direction. Therefore, the positions of the sample box in the first direction and the second direction are limited by the elastic component and the limiting component, and the tube picking mechanism picks the tubes after the position of the sample box is fixed, so that the accuracy of tube picking operation is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of low-temperature storage equipment, and in particular to a freezing device. Background Art

[0002] In order to keep biological tissues such as stem cells, blood, and immune cells active for a long time, samples are usually stored in sample tubes, and then a sample box containing multiple sample tubes is stored in a freezing device.

[0003] The cryopreservation device is provided with a tube picking device to pick out the sample tubes in the sample box or to place the sample tubes in the sample box. The fixed position of the sample box is crucial for the accuracy of the tube picking operation of the tube picking device. For this reason, the tube picking device is usually equipped with a limiting mechanism, which can fix the sample box to limit the position of the sample box; after the tube picking operation is completed, the limiting mechanism can also unlock the sample box so that the sample box can be transferred to other storage locations.

[0004] In the related art, the limiting mechanism needs to be additionally equipped with a driver to achieve the fixation and release of the sample box, and the structure is complicated. Summary of the invention

[0005] The embodiment of the present application provides a freezing device, which has a simple positioning structure and accurate positioning when picking up a tube.

[0006] In a first aspect, an embodiment of the present application provides a freezing device, comprising:

[0007] Box assembly, structure formed:

[0008] a storage chamber configured to store a sample cartridge;

[0009] a cache cavity, configured to selectively communicate with the cache cavity;

[0010] A transfer platform is disposed in the cache chamber and is configured to transfer the sample box; the transfer platform comprises:

[0011] A first moving mechanism, configured to drive the sample box to move along a first direction;

[0012] an elastic member, located at one side of the sample box along a second direction, and configured to elastically expand and contract along the second direction; wherein the second direction intersects with the first direction;

[0013] a limiting member connected to the first moving mechanism and moving along the first direction driven by the first moving mechanism;

[0014] When the limiting member limits the position of the sample box along the first direction, the elastic member is configured to elastically contact with the sample box along the second direction;

[0015] The tube picking mechanism is located above the transfer platform; the tube picking mechanism is configured to select a set sample tube from the sample box when the elastic member restricts the sample box along the second direction and the limiting member restricts the sample box along the first direction.

[0016] The embodiment of the present application stores samples by setting a storage cavity; operates on samples by setting a cache cavity. The cache cavity can be connected to the storage cavity. A transfer table is provided in the cache cavity for transferring sample boxes. The transfer table drives the sample box to move along the first direction by setting a first moving mechanism; an elastic member is provided to elastically contact the sample box to limit the position of the sample box along the second direction; the limiting member is connected to the first moving mechanism, and the limiting member moves along the first direction driven by the first moving mechanism. When the limiting member moves along the first direction to contact the sample box and limit the position of the sample box along the first direction, the elastic member also elastically contacts the sample box to limit the position of the sample box along the second direction. Thus, the elastic member and the limiting member are used to limit the position of the sample box along the first direction and the second direction, and the tube picking mechanism picks the tube after the position of the sample box is fixed, which is conducive to improving the accuracy of the tube picking operation.

[0017] In the embodiment of the present application, an elastic component and a limiting component are used to limit the position of the sample box in the first direction and the second direction respectively, so that the position definition in each direction is more accurate, which is conducive to improving the accuracy of the tube picking operation.

[0018] In the embodiment of the present application, the first moving mechanism is configured to drive the sample box to move along the first direction, and is a driving structure for the sample box to move along the first direction. In the embodiment of the present application, the first moving mechanism is used to drive the limiting member to move along the first direction, so that the sample box moves between the tube picking position and the unlocking position, and the driving structure of the sample box is reused, without the need for an additional driver, which is conducive to simplifying the structure of the transfer platform.

[0019] In some embodiments of the present application, the transfer platform includes: a base; the base is fixedly connected to the first moving mechanism;

[0020] The base is provided with an inclined guide portion; the extending direction of the inclined guide portion intersects with the first direction, and the angle between the inclined guide portion and the first direction is an acute angle;

[0021] When the first moving mechanism drives the sample box to move along the first direction, one end of the limiting member slides along the inclined guide portion, and the other end of the limiting member abuts against the end of the sample box along the first direction when the elastic member abuts against the sample box.

[0022] In some embodiments of the present application, an inclined guide portion is provided on the base to guide one end of the limiting member for sliding, so that the other end of the limiting member can abut against the end of the sample box along the first direction when the elastic member abuts against the sample box, thereby limiting the position of the sample box along the first direction.

[0023] In some embodiments of the present application, the limiting component includes:

[0024] a connecting member connected to an output end of the first moving mechanism and moving along a first direction under the drive of the first moving mechanism;

[0025] A first stopper, configured to form a matching portion; the first stopper is configured to contact the sample box;

[0026] A connecting rod mechanism, wherein a first end of the connecting rod mechanism is slidably mounted on the inclined guide portion, and a second end of the connecting rod mechanism is slidably mounted on the matching portion; the connecting rod mechanism is rotatably connected to the connecting member;

[0027] When the first end of the connecting rod mechanism slides along the inclined guide portion, the second end of the connecting rod mechanism slides along the matching portion and drives the first limiting member to move along the first direction relative to the connecting member, so that the first limiting member abuts against or separates from the sample box.

[0028] In some embodiments of the present application, the limiting member is connected to the first moving mechanism by providing a connecting member, and the first limiting member is provided to contact and limit the sample box; the movement of the first limiting member is guided by providing a connecting rod mechanism. When one end of the connecting rod mechanism slides along the inclined guide portion, the second end of the connecting rod mechanism slides along the matching portion of the first limiting member, and drives the first limiting member to move relative to the connecting member along the first direction, so that the first limiting member can abut against the sample box to limit the position of the sample box along the first direction.

[0029] The limiting components of some embodiments of the present application, by providing a connecting piece, not only allow the first limiting piece to move along the first direction driven by the first moving mechanism, so that the sample box can be transferred along the first direction; it can also provide an inclined guide part and a connecting rod mechanism, so that the first limiting piece can produce a relative displacement with the connecting piece along the first direction to limit the position of the sample box along the first direction.

[0030] In some embodiments of the present application, the connecting rod mechanism includes:

[0031] a first connecting rod, a first end of which is slidably mounted on the inclined guide portion;

[0032] A first shaft, wherein a first end of the first shaft is fixedly connected to a second end of the first connecting rod; and the first shaft is rotatably mounted on the connecting member;

[0033] The second connecting rod is located above the first connecting rod, and an angle is formed between the second connecting rod and the first connecting rod; the first end of the second connecting rod is fixedly connected to the second end of the first shaft, and the second end of the second connecting rod is slidably installed on the matching portion.

[0034] The connecting rod mechanism of some embodiments of the present application is provided with a first connecting rod, which can be slidably mounted on the inclined guide part; the second connecting rod is provided, which can be slidably mounted on the matching part; the first connecting rod and the second connecting rod are fixedly connected by a first shaft, and the first shaft is rotatably mounted on the connecting member. In this way, the first moving mechanism can drive the first shaft to move along the first direction through the connecting member, and can also drive the second connecting rod to move relative to the connecting member along the first direction through the cooperation of the first connecting rod and the inclined guide part, thereby causing the first limiting member to abut against the sample box to limit the position of the sample box.

[0035] In some embodiments of the present application, a guide rail structure that slides along the first direction is formed between the connecting member and the first limiting member.

[0036] In some embodiments of the present application, a guiding structure is arranged between the connecting member and the first limiting member to guide the first limiting member to move along the first direction, thereby improving the linear accuracy of the first limiting member moving along the first direction, improving the stability of the abutment between the first limiting member and the sample box, and reducing the possibility of the sample box being tilted due to uneven force.

[0037] In some embodiments of the present application, the limiting component includes:

[0038] A first elastic member, wherein the first elastic member is arranged at an end of the first limiting member along the first direction; the first elastic member is configured to be retracted along the first direction; and the first elastic member is configured to be in elastic contact with the sample box.

[0039] In some embodiments of the present application, the limiting component is provided with a first elastic member, so that the first limiting member is in elastic contact with the sample box through the first elastic member, which is beneficial to improving the reliability of limiting the sample box along the first direction; the elastic contact between the first limiting member and the sample box can reduce the possibility of the sample box being squeezed and damaged by the first limiting member.

[0040] In some embodiments of the present application, the base is further formed with:

[0041] The first straight guide portion extends along the first direction, and the first straight guide portion is connected to one end of the inclined guide portion.

[0042] The guiding portion of the embodiment of the present application can ensure, by providing the first straight guiding portion, that the limiting member can smoothly enter and exit the inclined guiding portion via the first straight guiding portion, on the one hand, and can ensure the stability and reliability of the limiting force of the sample box by the limiting member in the first straight guiding portion, on the other hand; it can also ensure the stability of the limiting force of the limiting member between the first straight guiding portion and the sample box, thereby avoiding that the limiting force of the limiting member is too large to damage the sample box, and avoiding that the limiting force of the limiting member is too small to affect the accuracy of the position of the sample box.

[0043] In some embodiments of the present application, the base is further formed with:

[0044] The second straight guide portion extends along the first direction, and the second straight guide portion is connected to the other end of the inclined guide portion.

[0045] The guide portion of the embodiment of the present application is provided with a first straight guide portion and a second straight guide portion at both ends of the inclined guide portion, so that the limiting member can smoothly enter and exit the inclined guide portion during the movement along the first direction, thereby ensuring the stability of the movement of the limiting member. Moreover, by providing two straight guide portions, the limiting member can stably and reliably limit the sample box when it moves to any straight guide portion.

[0046] In some embodiments of the present application, the transfer platform further includes a receiving member, the receiving member is connected to the output end of the first moving mechanism; the receiving member is structured to form a receiving portion for receiving the sample box;

[0047] There are two accommodating parts, and the two accommodating parts are respectively located on two sides of the limiting component along the first direction;

[0048] The first moving mechanism is configured to selectively move one of the accommodating portions until the sample box in the accommodating portion elastically contacts the elastic member and abuts against the limiting member.

[0049] The accommodating member of some embodiments of the present application is constructed with two accommodating parts, which can accommodate two sample boxes at the same time. The two accommodating parts are respectively located on both sides of the limiting member along the first direction. The first moving mechanism is used to drive the accommodating member to move along the first direction, so that the sample boxes in the two accommodating parts are alternately moved to the tube picking position, so that the tube picking mechanism can pick up the tube from one sample box and put the tube into the other sample box. The positioning operation of the two sample boxes is simple, which is conducive to improving the efficiency of tube picking.

[0050] In some embodiments of the present application, the elastic member includes:

[0051] a second elastic member, configured to expand and contract along the second direction;

[0052] a second limiting member connected to the second elastic member; the second limiting member is configured to contact the sample box;

[0053] When the first moving mechanism drives the sample box to move to contact with the second limiting member, the second limiting member compresses the second elastic member along the second direction.

[0054] In some embodiments of the present application, the elastic component is in contact with the sample box by setting a second limiting member, and the second elastic member is connected to the second limiting member by setting a second elastic member, and the second elastic member is constructed to expand and contract along the second direction so that the second limiting member is in elastic contact with the sample box to limit the position of the sample box along the second direction.

[0055] In some embodiments of the present application, the first moving structure is used to drive the sample box to move along the first direction to the elastic component, and the elastic component can press the sample box along the second direction without the need for additional drive, thereby simplifying the limiting structure of the sample box.

[0056] In some embodiments of the present application, the elastic member further includes:

[0057] A plurality of rollers are arranged at intervals along the first direction; the rollers are rotatably mounted on the second limiting member; and the circumferential surfaces of the rollers are configured to contact the sample box.

[0058] In some embodiments of the present application, multiple rollers are provided on the second limiting member to contact the sample box, thereby reducing the friction force on the sample box and improving the smoothness of the movement of the sample box along the first direction.

[0059] In some embodiments of the present application, the transfer platform further includes:

[0060] A rotating mechanism, wherein the output end of the rotating mechanism is connected to the first moving mechanism; the rotating mechanism drives the first moving mechanism to rotate around a rotating axis; the rotating axis is perpendicular to a first plane, and the first plane is a plane determined by the first direction and the second direction.

[0061] In some embodiments of the present application, the transfer platform drives the first moving mechanism to rotate around the rotation axis by providing a rotating mechanism, thereby driving the sample box to rotate in any direction in the horizontal plane.

[0062] In some embodiments of the present application, the transfer platform further includes:

[0063] A second moving mechanism is configured to drive the rotating mechanism and the first moving mechanism to move within the first plane.

[0064] In some embodiments of the present application, the transfer platform drives the sample box to move in any direction in the horizontal plane through the cooperation of the first moving mechanism and the rotating mechanism, thereby facilitating the transfer of the sample box between multiple workstations.

[0065] By setting a second moving mechanism, the rotating mechanism and the first moving mechanism are driven to move along the first direction in the horizontal plane, thereby driving the sample box to move along the first direction; on the one hand, space can be provided for the rotating mechanism to drive the first moving mechanism to rotate, and on the other hand, the second moving mechanism increases the moving distance of the sample box along the first direction. In the case of setting up more annular rotating cages, there is sufficient moving distance between the transfer platform and the transfer robot along the first direction, ensuring smooth transfer of the sample box between the transfer platform and the transfer robot.

[0066] In a second aspect, an embodiment of the present application provides a freezing device, comprising:

[0067] A first moving mechanism is configured to drive the sample box to move from a first position to a second position along a first direction;

[0068] Wherein, the second position is the position where the medical material sample in the sample box is taken and placed by the tube picking mechanism above the first moving mechanism;

[0069] a clamping mechanism configured to gradually clamp the sample box in a second direction as the sample box gradually reaches the second position; wherein the second direction is perpendicular to the first direction;

[0070] The clamping mechanism includes a second elastic member capable of extending and retracting along the second direction.

[0071] The freezing device of the embodiment of the present application is provided with a first moving mechanism to drive the sample box to move from a first position to a second position along a first direction, wherein the second position is a position where the medical material sample in the sample box is taken and placed by the tube picking mechanism above the first moving mechanism. By providing a clamping mechanism, when the sample box gradually reaches the second position, it can gradually clamp the sample box in the second direction to limit the position of the sample box along the second direction; due to the clamping force of the clamping mechanism on the sample box, the sample box and the clamping mechanism have a static friction force along the first direction, and under the action of the static friction force, the sample box is limited along the first direction, so that the position of the sample box is fixed, which is convenient for the tube picking mechanism to take and place, and is conducive to improving the accuracy of the taking and placing action of the tube picking mechanism.

[0072] In the embodiment of the present application, the first moving mechanism is configured to drive the sample box to move along the first direction, and is a driving structure for the sample box to move along the first direction. In the embodiment of the present application, the first moving mechanism is used to drive the limiting member to move along the first direction, so that the sample box moves between the first position and the second position, and the driving structure of the sample box is reused, and no additional driver is required, which is conducive to simplifying the structure of the transfer platform.

[0073] In some embodiments of the present application, the clamping mechanism further includes: a receiving member;

[0074] The accommodating member is configured to accommodate the sample box; the accommodating member is connected to the output end of the first moving mechanism, and moves along the first direction under the drive of the first moving mechanism;

[0075] The second elastic member is located at one side of the accommodating member along the second direction;

[0076] As the sample box gradually reaches the second position, the second elastic member cooperates with the accommodating component to clamp the sample box along the second direction.

[0077] In some embodiments of the present application, the clamping mechanism utilizes the cooperation of the second elastic member and the accommodating component to achieve elastic clamping of the sample box, that is, the clamping mechanism reuses the accommodating component for accommodating the sample box to achieve clamping of the sample box along the second direction, which is conducive to simplifying the structure of the clamping mechanism.

[0078] In some embodiments of the present application, the accommodating member is configured to form an accommodating portion, and the accommodating portion is used to accommodate the sample box; the accommodating portion has two first side walls spaced apart and opposite to each other along the second direction;

[0079] As the sample box gradually reaches the second position, the second elastic member and the first side wall away from the second elastic member clamp the sample box.

[0080] In some embodiments of the present application, the sample box is initially limited by the accommodating portion to prevent the sample box from falling out of the accommodating portion. The clamping mechanism uses the first side wall of the accommodating portion and the second elastic member to clamp the sample box, which is conducive to simplifying the structure of the clamping mechanism and can also make the limiting of the sample box more stable. In addition, in this arrangement, when in the first position, the sample box is away from the second elastic member, and the sample box is still located in the accommodating portion, which is convenient for the transportation of the sample box.

[0081] In some embodiments of the present application, the first moving mechanism includes:

[0082] A first driver, wherein an output end of the first driver is connected to the accommodating member, and the first driver is configured to drive the accommodating member to move along the first direction.

[0083] The first moving mechanism of the embodiment of the present application drives the accommodating member to move along the first direction by setting a first driver, which can not only move the sample box between the first position and the second position, but also move the sample box to other positions other than the first position and the second position along the first direction, so as to facilitate the movement of the sample box along the first direction. In this way, the position fixing and unlocking of the sample box reuses the position moving mechanism of the sample box, and there is no need to set up an additional driver to limit the driving of the sample box, which is conducive to simplifying the structure of the transfer platform.

[0084] In some embodiments of the present application, the first moving mechanism includes:

[0085] a first gear connected to an output end of the first driver;

[0086] a first rack meshing with the first gear and extending along the first direction; the first rack is fixedly connected to the accommodating member;

[0087] The first rack and the second elastic member are respectively located at two sides of the accommodating component along the second direction.

[0088] In some embodiments of the present application, the first moving mechanism drives the accommodating member to move along the first direction by setting a first gear and a first rack, thereby driving the sample box to move along the first direction, which is beneficial to improving the straightness of the movement of the sample box along the first direction; moreover, the first rack and the second elastic member are respectively located on both sides of the accommodating member along the second direction, so as to prevent the movement of the accommodating member from affecting the clamping operation of the clamping mechanism.

[0089] In some embodiments of the present application, the freezing device comprises:

[0090] The freezing device comprises:

[0091] a base configured to mount the first moving mechanism;

[0092] The clamping mechanism comprises:

[0093] A second limiting member is slidably mounted on the base; the second limiting member is configured to abut against the sample box along the second direction;

[0094] The second elastic member has a first end and a second end along its extension direction; the first end of the second elastic member is fixed relative to the base, and the second end abuts against the second limiting member to drive the second limiting member to slide along the second direction.

[0095] In some embodiments of the present application, the clamping mechanism elastically clamps the sample box by providing a second stopper. Compared with the second elastic member directly contacting the sample box, the second stopper is more stably in contact with the sample box, which helps to improve the reliability of the clamping mechanism clamping the sample box.

[0096] In some embodiments of the present application, the second limiting member extends along the first direction, and a size of the second limiting member along the first direction is greater than a size of the sample box along the first direction.

[0097] In some embodiments of the present application, the dimension of the second limit member along the first direction is larger than the dimension of the sample box along the first direction, so that the second limit member and the sample box have a larger contact area, which not only helps to improve the reliability and stability of clamping, but also can provide the sample box with a stable static friction force along the first direction, thereby improving the reliability of the sample box limitation.

[0098] In some embodiments of the present application, a plurality of the second elastic members are provided, and the plurality of the second elastic members are arranged at intervals along the first direction.

[0099] In some embodiments of the present application, by arranging a plurality of second elastic members along the first direction, not only can the clamping force on the sample box be increased, but also the force on the sample box along the first direction can be balanced, thereby reducing the possibility of the sample box tilting relative to the first direction.

[0100] In some embodiments of the present application, the second position-limiting member is provided with a mounting cavity extending along the second direction;

[0101] A first fastener fixed on the base is inserted into the installation cavity;

[0102] The second elastic member is arranged in the installation cavity and is located on a side of the first fastener facing the sample box; the first end of the second elastic member abuts against the first fastener;

[0103] As the sample box gradually reaches the second position, the second elastic member abuts against the sample box along the second direction through the second limiting member.

[0104] In some embodiments of the present application, a first fastener fixed on the base is provided with an installation cavity to limit the second limiting member in the first direction; by providing the installation cavity on the second limiting member, a guiding effect is provided for the extension and retraction of the second elastic member along the second direction, thereby ensuring that the sample box is subjected to the clamping force along the second direction.

[0105] In some embodiments of the present application, the clamping mechanism further includes: a sleeve, the sleeve being located in the installation cavity;

[0106] The first fastener passes through the sleeve and is fixedly connected to the base;

[0107] The first end of the second elastic member abuts against the sleeve.

[0108] In some embodiments of the present application, a sleeve is arranged in the installation cavity, and under the cooperation of the sleeve and the installation cavity, the movement of the second limiter along the second direction is guided to ensure the balance of the clamping force on the sample box along the first direction. In addition, the sleeve abuts against the first end of the second elastic member to make the elastic deformation of the second elastic member more stable.

[0109] In some embodiments of the present application, the clamping mechanism further comprises: a plurality of rollers; the plurality of rollers are arranged at intervals along the first direction;

[0110] The roller is rotatably mounted on the second limiting member;

[0111] When the first moving mechanism drives the sample box to move from the first position to the second position along the first direction, the plurality of rollers are in rolling contact with the sample box.

[0112] In some embodiments of the present application, multiple rollers are provided on the second limiting member to contact the sample box, thereby reducing the friction force on the sample box and improving the smoothness of the movement of the sample box along the first direction.

[0113] In some embodiments of the present application, in some embodiments of the present application, the transfer platform further includes:

[0114] A rotating mechanism, wherein an output end of the rotating mechanism is connected to the first moving mechanism; the rotating mechanism drives the first moving mechanism to rotate around a rotating axis; the rotating axis is perpendicular to a first plane, and the first plane is a plane determined by the first direction and the second direction;

[0115] The second moving mechanism is configured to drive the rotating mechanism and the first moving mechanism to move within the first plane.

[0116] In some embodiments of the present application, the transfer platform drives the first moving mechanism to rotate around the rotation axis by setting a rotating mechanism, thereby driving the sample box to rotate in any direction in the horizontal plane. The transfer platform drives the sample box to move in any direction in the horizontal plane through the cooperation of the first moving mechanism and the rotating mechanism, so as to facilitate the transfer of the sample box between multiple stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0117] In order to more clearly illustrate the implementation methods in the embodiments of the present application or the related technologies, the following is a brief introduction to the drawings required for use in the embodiments or the related technology descriptions. Obviously, the drawings described below are some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0118] Figure 1 A schematic diagram of the structure of a freezing device provided in some embodiments of the present application;

[0119] Figure 2 A schematic diagram of the internal structure of a freezing device provided in some embodiments of the present application;

[0120] Figure 3 A schematic diagram of the internal structure of a freezing device provided in some embodiments of the present application;

[0121] Figure 4 A schematic diagram of the structure of a transfer platform provided in some embodiments of the present application;

[0122] Figure 5 An exploded view of a transfer station provided for some embodiments of the present application;

[0123] Figure 6 A schematic diagram of a portion of the structure of a transfer platform provided in some embodiments of the present application;

[0124] Figure 7 An exploded view of a portion of the structure of a transfer platform provided in some embodiments of the present application;

[0125] Figure 8 for Figure 7 A top view of the structure in the middle;

[0126] Fig. 9 for Figure 8 AA section view in;

[0127] Fig.10 An exploded view of a base and a limiting component of a transfer platform provided in some embodiments of the present application;

[0128] Fig.11 A bottom view of a connector and a connecting rod assembly provided for some embodiments of the present application;

[0129] Fig.12 for Fig.11 BB section view in;

[0130] Fig.13 A partial structural diagram of a position limiting component provided in some embodiments of the present application;

[0131] Fig.14 for Fig.13 CC section view in;

[0132] Fig.15 Schematic diagram of the coordination between the connecting rod mechanism and the guide part in some embodiments of the present application.

[0133] Description of reference numerals:

[0134] 10: sample box; 11: first sample box; 12: second sample box;

[0135] 20: storage mechanism; 21: annular cage; 22: transfer manipulator;

[0136] 30: Taking and placing mechanism;

[0137] 40: tube picking mechanism; 50: scanning mechanism;

[0138] 60: transfer table; 70: clamping mechanism;

[0139] 100: box assembly; 101: storage cavity; 102: cache cavity; 110: first box; 111: first box liner; 120: second box; 121: second box liner; 122: display device; 130: first heat preservation door; 140: second heat preservation door;

[0140] 200: base; 201: moving channel; 202: first slide groove; 211: inclined guide portion; 212: first straight guide portion; 213: second straight guide portion;

[0141] 300: first moving mechanism; 310: accommodating member; 311: accommodating portion; 3111: first side wall; 3112: second side wall; 312: hollow portion; 313: first slide rail; 320: first driver; 330: first transmission assembly; 331: first gear; 332: first rack;

[0142] 400: rotating mechanism; 410: second driver; 420: mounting member; 421: second slide rail; 430: second transmission assembly; 431: second gear; 432: third gear;

[0143] 500: second moving mechanism; 510: third driver; 520: third transmission assembly; 521: fourth gear; 522: second rack; 530: base; 531: second slide slot;

[0144] 600: elastic member; 610: second elastic member; 620: second stopper; 621: mounting cavity; 630: first fastener; 640: cover; 650: roller; 660: sleeve;

[0145] 700: limiting member; 710: first limiting member; 711: matching portion; 720: connecting rod mechanism; 721: first axis; 722: first connecting rod; 7221: first rod body; 7222: second axis; 723: second connecting rod; 7231: second rod body; 7232: third axis; 730: connecting member; 740: guide rail structure; 741: third slide groove; 742: third slide rail; 750: first elastic member; 760: abutting member; 770: guide column. DETAILED DESCRIPTION

[0146] In order to make the purpose, implementation mode and advantages of the present application clearer, the exemplary implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0147] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0148] In addition, the terms "include" and "have" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to those components expressly listed but may include other components not expressly listed or inherent to such products or devices.

[0149] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0150] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0151] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0152] Usually, when extracting a specific sample tube, the sample box needs to be transferred from the storage area to the operation area, and the tube is selected in the operation area; then the required sample tube is output, which can avoid taking out the sample box as a whole and affecting the preservation quality of the sample.

[0153] For this purpose, a tube picking device is usually provided in the freezing device, and the tube picking device is configured to pick out a specific sample tube from the sample box. Among them, the position of the sample box is related to the accuracy of the tube picking and is very important.

[0154] The tube picking device is usually equipped with a limiting mechanism, which can fix the sample box to limit the position of the sample box; after the tube picking operation is completed, the limiting mechanism can also unlock the sample box so that the sample box can be transferred to other storage locations. However, the limiting mechanism needs to be equipped with an additional driver to achieve the fixing and release of the sample box, and the structure is complicated.

[0155] To this end, an embodiment of the present application provides a freezing device, in which a transfer platform is provided in a buffer chamber to transfer a sample box. The transfer platform limits the position of the sample box in the second direction by setting an elastic component, and limits the position of the sample box along the first direction by setting a limiting component, thereby limiting the position of the sample box in the horizontal plane, which is conducive to improving the accuracy of the tube picking operation. Moreover, while the sample box is driven to move by the first moving mechanism of the transfer platform, the limiting component is also driven to move, so that the sample box moves between the tube picking position and the unlocking position. There is no need to set an additional driver for the positioning structure, which simplifies the structure of the transfer platform.

[0156] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0157] Combination Figure 1 and Figure 2 Some embodiments of the present application provide a cryopreservation device, which is used to freeze and preserve biological samples.

[0158] The freezing device may include a box assembly 100, which serves as an appearance component of the freezing device and not only forms a storage chamber for storing biological samples, but also forms an installation chamber for driving components of the freezing device and an operation chamber for biological samples.

[0159] In some embodiments, the box assembly 100 is constructed to form a storage cavity 101, and the storage cavity 101 is configured to store the sample box 10. The sample box 10 is a container for storing biological samples and other medical materials. The drawings of the embodiments of the present application are schematically shown in a rectangular box shape, but this does not limit the shape and structure of the sample box 10.

[0160] Reference Figure 2 and Figure 3 The freezing device may include a storage mechanism 20 , which is installed in the storage cavity 101 and is used to place the sample box 10 .

[0161] The freezing device may include a transfer robot 22 installed in the storage cavity 101 to place the sample box 10 on the storage mechanism 20 , or transfer the sample box 10 of the storage mechanism 20 to outside the storage cavity 101 .

[0162] In some embodiments, the storage mechanism 20 may include an annular cage 21 , and the transfer robot 22 may be located at the center of the annular cage 21 , so as to improve the structural compactness of the freezing device and improve the storage utilization rate in the storage chamber 101 .

[0163] The annular cage 21 may include a plurality of storage racks, which are arranged at intervals along the circumference to provide more storage locations.

[0164] The annular rotating cage 21 can be configured to rotate around its axis; the transfer robot 22 is configured to move vertically and longitudinally (corresponding to Figure 2 The annular rotating cage 21 can be telescopically moved in the Y-axis direction, so that the sample box 10 at any position of the annular rotating cage 21 can be transferred.

[0165] In some embodiments, a plurality of annular rotating cages 21 may be provided, the plurality of annular rotating cages 21 are coaxially arranged, and the plurality of annular rotating cages 21 are sequentially sleeved in the radial direction. In this way, not only the storage capacity of the sample box 10 in the storage cavity 101 can be increased, but also the structure of the storage mechanism 20 is compact, which is conducive to improving the space utilization rate in the storage cavity 101.

[0166] exist Figure 2 and Figure 3 In the structure shown, two annular cages 21 are provided. This is only a schematic representation of the number of annular cages 21, and does not limit the number of annular cages 21. Figure 2 and Figure 3 In the figure, only one storage rack is shown in the annular cage 21, which is for schematic illustration and does not limit the number of storage racks.

[0167] Usually, the temperature in the storage chamber 101 is relatively low, for example, minus 80° C. If the sample box 10 is directly transferred between the storage chamber 101 and the external environment, the sample box 10 is prone to frost, and the temperature difference is large, which is not conducive to the storage quality of the sample and also causes the temperature fluctuation of the storage chamber 101 .

[0168] To this end, in some embodiments, the box assembly 100 is further configured to form a cache cavity 102, and the storage temperature of the cache cavity 102 is higher than the temperature of the storage cavity 101. Of course, the storage temperature of the cache cavity 102 is lower than zero degrees Celsius. Exemplarily, the storage temperature of the cache cavity 102 is minus 30 degrees Celsius, minus 40 degrees Celsius, etc.

[0169] In some embodiments, the cryopreservation device may include two refrigeration systems, one of which is used to cool the storage cavity 101 and the other is used to cool the cache cavity 102. This arrangement is conducive to accurately controlling the temperatures of the storage cavity 101 and the cache cavity 102.

[0170] The cache chamber 102 is located on the side of the storage chamber 101, so that it is convenient to take and put samples. Figure 2 At this time, the transfer robot 22 is configured to move telescopically in the longitudinal direction to achieve the transfer of the sample box 10 between the cache cavity 102 and the storage cavity 101.

[0171] The buffer chamber 102 is configured to be selectively connected to the storage chamber 101, so that the sample box 10 can be transferred between the buffer chamber 102 and the storage chamber 101. In this way, the sample can be operated in the low temperature environment of the buffer chamber 102, avoiding frost on the sample box 10 and affecting the sample operation. Moreover, the sample box 10 enters and exits the storage chamber 101 through the buffer chamber 102, which can reduce the impact of sudden temperature changes on the sample storage quality and the impact on the temperature in the storage chamber 101.

[0172] In some embodiments, the box assembly 100 is also configured to form a first access port, which is configured to connect the cache chamber 102 and the outside atmosphere so that the sample box 10 can enter and exit the cache chamber 102 through the first access port.

[0173] Exemplarily, the first access opening is located on a side of the cache cavity 102 away from the storage cavity 101 , so that there is sufficient space to access and place the sample box 10 through the first access opening.

[0174] Combination Figure 2 and Figure 3The freezing device may include a first heat preservation door 130, which is configured to open or close the first access port. The first heat preservation door 130 may be opened by an operator; the first heat preservation door 130 may also be an electric door, which is opened or closed under the control of a control device of the freezing device.

[0175] Among them, Figure 2 In the process, the first heat preservation door 130 closes the first access opening; Figure 3 In the process, the first heat preservation door 130 opens the first loading and unloading opening.

[0176] In some embodiments, the freezing device may include a sampling mechanism 30 configured to input or output the sample box 10 into or out of the buffer chamber 102 through a first input port.

[0177] Exemplarily, the sample taking and placing mechanism 30 is configured to lift and lower the sample box 10 vertically so as to input or output the sample box into or out of the buffer cavity 102 through the first taking and placing port.

[0178] In some embodiments, the box assembly 100 is further configured to form a second access port, which connects the cache cavity 102 and the storage cavity 101 , and the sample box 10 is transferred between the storage cavity 101 and the cache cavity 102 through the second access port.

[0179] Combination Figure 2 The freezing device may include a second heat preservation door 140, which is configured to open or close the second access port. The second heat preservation door 140 is an electric door, which can be opened or closed under the control of the control device. The second heat preservation door 140 closes the second access port, so that the cache cavity 102 is not connected to the storage cavity 101; the second heat preservation door 140 opens the second access port, so that the cache cavity 102 is connected to the storage cavity 101 through the second access port.

[0180] In some embodiments, the second thermal insulation door 140 may include a door mounting member, and the door mounting member is fixed in the cabinet assembly.

[0181] The second heat-insulating door 140 may include a heat-insulating door body, which is slidably mounted on a door mounting member, and the heat-insulating door body may slide in a vertical direction.

[0182] The second thermal insulation door 140 may include a door driving mechanism, which is connected to the thermal insulation door body, and the door driving mechanism is configured to drive the door body to slide relative to the door mounting member so that the thermal insulation door body is opposite to the second access port to close the second access port; or, so that the thermal insulation door body is staggered with the second access port to open the second access port.

[0183] The door drive mechanism may include a motor and a transmission assembly, wherein the motor is connected to the thermal insulation door body through the transmission assembly, and the transmission assembly converts the rotation of the motor into a linear braking of the thermal insulation door body. The transmission assembly may include a lead screw and a nut, and the transmission assembly may include a gear and a rack, etc.

[0184] In some embodiments, a guide slot is provided on the door mounting member, and a guide matching portion is provided on the thermal insulation door body. The guide matching portion can be slidably installed in the guide slot to guide the movement of the thermal insulation door body.

[0185] Among them, the guide slide groove includes a connected vertical slide groove and an inclined slide groove. The inclined slide groove is located at one end of the vertical slide groove. When the insulation door body slides along the inclination, the insulation door body is pressed against the box wall to form the second taking and releasing port to improve the sealing of the insulation door body.

[0186] Continue to refer to Figure 1 In some embodiments, the box assembly 100 includes a first box 110 , and the first box 110 is configured to form a storage cavity 101 .

[0187] The first box body 110 may include a first box shell, and the first box shell is an appearance component of the first box body 110 .

[0188] The first box body 110 may include a first box liner 111, and the first box liner 111 is configured to form a storage chamber 101. The first box liner 111 is fixed inside the first box shell. An installation chamber 621 is formed between the first box liner 111 and the first box shell to install other functional components of the freezing device, such as a refrigeration system, a driving device, etc.

[0189] The first box body 110 may include a first heat-insulating member, which is arranged between the first box shell and the first box liner 111 to keep the storage cavity 101 warm. The first heat-insulating member includes a foaming structure, a heat-insulating board, and the like.

[0190] In some embodiments, the box assembly 100 includes a second box 120, and the second box 120 is configured to form the cache cavity 102 and the first access opening. The second box 120 is located on the side of the first box 110. Figure 1 As shown, the second box body 120 is located on one side of the first box body 110 along the longitudinal direction, wherein the longitudinal direction may correspond to Figure 1 The middle Y axis direction.

[0191] In some embodiments, the first box 110 is further configured to form a first opening, which is in communication with the storage cavity 101. The second cavity is further configured to form at least one second opening, which is configured to be in communication with the cache cavity 102. When the second box 120 is connected to the first box 110, the first opening is opposite to the second opening, and together they form a second access opening.

[0192] The second box body 120 may include a second box shell, and the second box shell is an appearance component of the second box body 120 .

[0193] The second box body 120 may include a second box liner 121, and the second box liner 121 is configured to form a cache chamber 102. The second box liner 121 is fixed inside the second box shell. An installation cavity 621 is formed between the second box liner 121 and the second box shell to install some other functional components of the freezing device, for example, the sampling mechanism 30.

[0194] The second box body 120 may include a second heat-insulating member, which is arranged between the second box shell and the second box liner 121 to keep the storage cavity 101 warm. The second heat-insulating member includes a foaming structure, a heat-insulating board, and the like.

[0195] Combination Figure 1 In some embodiments, a display device 122 is installed on the second housing to display the storage information of the sample. Currently, the display device 122 may also have a touch function to facilitate the operation of the operator.

[0196] In some embodiments, the second box 120 can be detachably connected to the first box 110. In this way, in an emergency such as a power outage, the first box 110 and the second box 120 can be disassembled to transfer the samples in the first box 110 urgently.

[0197] Continue to refer to Figure 2 and Figure 3 The cache chamber 102 serves as an operating chamber of the sample box 10 . A tube picking mechanism 40 may be disposed in the cache chamber 102 . The tube picking mechanism 40 is configured to take and place a set sample tube from the sample box 10 .

[0198] A scanning mechanism 50 may be disposed in the buffer chamber 102 , and the scanning mechanism 50 is configured to scan information of the sample tube in the sample box 10 .

[0199] A transfer platform 60 may be disposed in the cache chamber 102 , and the transfer platform 60 is configured to transfer the sample box 10 .

[0200] In some embodiments, the transfer platform 60 is located below the tube picking mechanism 40, and the tube picking mechanism 40 is configured to be arranged along the vertical direction (corresponding to Figure 3 The sample box 10 is raised or lowered (in the Z-axis direction) to select a set sample tube from the sample box 10 on the transfer table 60; or, the sample tube is placed in the sample box 10.

[0201] The scanning mechanism 50, the sample taking and placing mechanism 30 and the second taking and placing opening are all located on the side of the transfer platform 60. Exemplarily, the scanning mechanism 50 and the sample taking and placing mechanism 30 are respectively located on both sides of the transfer platform 60 in the horizontal direction, and the second taking and placing opening is located on one side of the transfer platform 60 in the longitudinal direction.

[0202] exist Figure 3 In the orientation shown, the scanning mechanism 50 and the placing mechanism 30 are respectively located on both sides of the transfer platform 60 along the X-axis direction, and the second placing port is located on one side of the transfer platform 60 along the Y-axis direction.

[0203] In some embodiments, the transfer platform 60 is configured to move the sample box 10 in a horizontal plane to transfer the sample box 10 between the sample taking and placing mechanism 30 , the second taking and placing port, the scanning mechanism 50 and the tube picking mechanism 40 .

[0204] The horizontal plane is perpendicular to the vertical plane. The horizontal plane is determined by the horizontal and vertical directions. Figure 3 In the directions shown, the horizontal plane is the XY plane. The vertical plane corresponds to Figure 3 The Z-axis direction.

[0205] The transfer platform 60 drives the sample box 10 to move in a horizontal plane, including driving the sample box 10 to move in a certain direction in the horizontal plane, and driving the sample box 10 to rotate in the horizontal plane.

[0206] In this way, the freezing device of the embodiment of the present application realizes the transfer of the sample box 10 between the four stations of scanning, tube picking, sampling mechanism 30 and second sampling port by setting up a transfer table 60, which not only simplifies the structural layout in the cache cavity 102, but also improves the transfer rate of the sample box 10.

[0207] Reference Figure 4 and Figure 5 In some embodiments, the transfer station 60 may include: a first moving mechanism 300, and the first moving mechanism 300 is configured to drive the sample box 10 to move along a first direction.

[0208] The first moving mechanism 300 is configured to drive the sample box 10 to move from the first position to the second position along the first direction. The second position is the position where the medical material sample in the sample box 10 is picked up and placed by the tube picking mechanism 40 above the first moving mechanism 300. The second position is the tube picking position, and the first position is the unlocking position.

[0209] The first direction corresponds to Figure 5 In the D1 axis direction. Figure 5 In the orientation shown, the first direction is parallel to the lateral direction, that is, the D1 axis direction is parallel to the X axis direction.

[0210] In some embodiments, the transfer station 60 may further include a base 200 , wherein the base 200 is configured to form a moving channel 201 extending along a first direction, wherein the first moving mechanism 300 is configured to drive the sample box 10 to move along the moving channel 201 , and the first moving mechanism 300 is mounted on the base 200 .

[0211] Exemplarily, the base 200 includes a bottom plate and two side plates, and the two side plates are respectively arranged on both sides of the bottom plate along the second direction. The second direction is perpendicular to the first direction. In this way, the bottom plate and the two side plates enclose a moving channel 201 extending along the first direction.

[0212] In some embodiments, in combination Figure 6 The transfer station 60 may include a receiving member 310 configured to receive the sample box 10 .

[0213] The accommodating member 310 is configured to form an accommodating portion 311 for accommodating the sample box 10 . The accommodating portion 311 limits the vertical displacement of the sample box 10 . The accommodating member 310 is slidably mounted on the base 200 .

[0214] The output end of the first moving mechanism 300 is connected to the accommodating member 310 , so that the first moving mechanism 300 is configured to drive the accommodating member 310 to move along the first direction, thereby driving the sample box 10 to move along the first direction.

[0215] In some embodiments, in combination Figure 7 The accommodating portion 311 has a hollow portion 312 so that the bottom of the sample box 10 is exposed, making it easier for the scanning mechanism 50 to scan the information of the sample tube at the bottom of the sample box 10 .

[0216] The first moving mechanism 300 may include a first driver 320, which may be used to provide a driving force. The first driver 320 is mounted on the base 200. The first driver 320 is connected to the accommodating member 310, and the first driver 320 is configured to drive the accommodating member 310 to move along a first direction, thereby driving the sample box 10 to move along the first direction.

[0217] The first driver 320 may be a linear driver, such as a cylinder, a linear motor, etc., to drive the accommodating member 310 to move along the first direction.

[0218] Combination Figure 6 The first moving mechanism 300 may include a first transmission assembly 330 , and the first driver 320 is connected to the accommodating member 310 via the first transmission assembly 330 .

[0219] Exemplarily, when the first driver 320 is a motor, the first transmission assembly 330 may include a first gear 331 and a first rack 332 that are meshed with each other, the first gear 331 is connected to the output shaft of the first driver 320, the first rack 332 is fixed to the accommodating member 310, and the first rack 332 extends along the first direction. The first driver 320 drives the accommodating member 310 to move along the first direction through the first gear 331 and the first rack 332. Since the first gear 331 and the first rack 332 that are meshed with each other have high transmission efficiency and transmission accuracy, it is beneficial to reduce the requirements for the driving power of the first driver 320, and it is beneficial to enhance the position accuracy of the accommodating member 310 when it slides, thereby improving the position accuracy of the sample box 10 when it moves along the first direction.

[0220] Exemplarily, when the first driver 320 is a motor, the first transmission assembly 330 may include a first screw and a first nut, and the first nut is threadedly connected to the first screw. The first screw is connected to the output shaft of the first driver 320, and the first screw extends along the first direction; the first nut is fixed to the accommodating member 310. The first driver 320 drives the accommodating member 310 to move along the first direction through the first screw and the first nut. The first screw and the first nut are threadedly matched to convert the rotation of the first driver 320 into the movement of the accommodating member 310 along the first direction, with high transmission efficiency and low transmission noise.

[0221] In some embodiments, a first slide groove 202 extending along a first direction is formed on the base 200. For example, the first slide groove 202 is provided on a side plate of the base 200. The accommodating member 310 is connected with a first slide rail 313, and the first slide rail 313 is slidably provided in the first slide groove 202. Through the cooperation of the first slide groove 202 and the first slide rail 313, the accommodating member 310 is slidably installed on the base 200, and the first slide groove 202 and the first slide rail 313 have high linear motion accuracy, which is conducive to improving the position accuracy of the sample box 10 along the first direction.

[0222] Continue to refer to Figure 4 and Figure 5 In some embodiments, the transfer platform 60 may include a rotating mechanism 400, an output end of the rotating mechanism 400 is connected to the first moving mechanism 300; the rotating mechanism 400 drives the first moving mechanism 300 to rotate around the rotation axis.

[0223] The rotation axis is perpendicular to the horizontal plane and parallel to the vertical plane.

[0224] The output end of the rotating mechanism 400 is connected to the first moving mechanism 300 through the base 200 to drive the first moving mechanism 300 to rotate around the rotating axis.

[0225] It should be noted that in Figure 5 In the orientation shown, the first direction is parallel to the transverse direction, that is, the D1 axis direction is parallel to the X axis direction. Of course, in some cases, such as when the sample box 10 is transferred between the transfer platform 60 and the transfer robot 22 through the second access port, the rotating mechanism 400 drives the first moving mechanism 300 to rotate around the rotation axis so that the first direction is parallel to the longitudinal direction, that is, at this time, the D1 axis direction is parallel to the Y axis direction.

[0226] Combination Figure 5 The rotating mechanism 400 may include a second driver 410, and the second driver 410 is used to provide a driving force for the rotation of the first moving mechanism 300. The output end of the second driver 410 is fixedly connected to the base 200, so that the second driver 410 drives the sample box 10 to rotate in a horizontal plane by driving the base 200 to rotate. Exemplarily, the output end of the second driver 410 is connected to the bottom plate of the base 200.

[0227] The rotating mechanism 400 may include a mounting member 420, which is located below the base 200; the second driver 410 is mounted on the mounting member 420. In some embodiments, the mounting member 420 may be configured to form a receiving cavity, and the second driver 410 is mounted in the receiving cavity.

[0228] In some embodiments, the rotating mechanism 400 may include a second transmission assembly 430 , and the second driver 410 is connected to the base 200 via the second transmission assembly 430 .

[0229] Exemplarily, the second transmission assembly 430 may include a transmission shaft, a second gear 431 and a third gear 432 meshing with each other, and the second gear 431 is connected to the output shaft of the second driver 410. The transmission shaft is fixed on the base 200, and the third gear 432 is installed on the transmission shaft. The second driver 410 drives the second gear 431 to rotate, thereby driving the third gear 432 to rotate, and then driving the base 200 and the first moving mechanism 300 to rotate around the rotation axis. Among them, the transmission shaft forms the rotation axis.

[0230] The embodiment of the present application not only transmits the driving force of the second driver 410 by setting the second transmission assembly 430, but also makes the installation position of the second driver 410 flexible, and the position of the rotating shaft can be set according to actual needs.

[0231] Of course, the above is not a limitation on the structure of the second transmission assembly 430. For example, the second transmission assembly 430 may include three gears.

[0232] Continue to refer to Figure 5 The transfer platform 60 may include a second moving mechanism 500, and the second moving mechanism 500 is configured to drive the rotating mechanism 400 and the first moving mechanism 300 to move in a horizontal plane.

[0233] In some embodiments, the second moving mechanism 500 drives the rotating mechanism 400 and the first moving mechanism 300 to move longitudinally in the horizontal plane, wherein the second pick-and-place port is located on one side of the transfer platform 60 in the longitudinal direction. The telescopic movement direction of the transfer robot 22 is parallel to the longitudinal direction.

[0234] In the embodiment of the present application, a second moving mechanism 500 is arranged to drive the rotating mechanism 400 and the first moving mechanism 300 to move longitudinally in the horizontal plane, thereby driving the sample box 10 to move longitudinally. On the one hand, space can be provided for the rotating mechanism 400 to drive the first moving mechanism 300 to rotate, and on the other hand, the second moving mechanism 500 increases the longitudinal moving distance of the sample box 10. In the case of setting up more annular rotating cages, there is a sufficient longitudinal moving distance between the transfer platform 60 and the transfer robot, thereby ensuring smooth transfer of the sample box 10 between the transfer platform 60 and the transfer robot.

[0235] In some embodiments, the second moving mechanism 500 may include a third driver 510 for providing a driving force.

[0236] The third driver 510 may be installed in the installation member 420, so that the structure of the transfer platform 60 is compact. The third driver 510 may be a motor.

[0237] The second moving mechanism 500 may include a base 530, and the base 530 is fixed in the cache cavity 102. Exemplarily, the base 530 is fixed in the second box.

[0238] In some embodiments, the second moving mechanism 500 may include a second screw and a second nut, and the second nut is threadedly connected to the second screw. The second screw is connected to the output shaft of the third driver 510, and the second screw extends in the longitudinal direction; the second nut is fixed to the base 530. The third driver 510 drives the rotating mechanism 400 to move in the longitudinal direction through the second screw and the second nut. The second screw and the second nut are threadedly matched to convert the rotation of the third driver 510 into the movement of the rotating mechanism 400 in the longitudinal direction, with high transmission efficiency and low transmission noise.

[0239] In other embodiments, the second moving mechanism 500 may include a third transmission assembly 520 , and the third transmission assembly 520 is connected to the third driver 510 to transmit the driving force of the third driver 510 .

[0240] Exemplarily, the third transmission assembly 520 may include a fourth gear 521 and a second rack 522 that are meshed with each other, the fourth gear 521 is connected to the output shaft of the third driver 510, the second rack 522 is fixed in the base 530, and the second rack 522 extends in the longitudinal direction. The third driver 510 drives the rotating mechanism 400 to move in the longitudinal direction through the fourth gear 521 and the second rack 522. Since the fourth gear 521 and the second rack 522 that are meshed with each other have high transmission efficiency and transmission accuracy, it is beneficial to reduce the requirements for the driving power of the third driver 510, and it is beneficial to enhance the position accuracy of the rotating mechanism 400 when sliding, thereby improving the position accuracy of the sample box 10 when moving in the longitudinal direction.

[0241] In some embodiments of the present application, the second moving mechanism 500 includes a fourth gear 521 and a second rack 522, so that the structure of the second moving mechanism 500 is compact. In addition, the third driver 510 can be installed together with the second driver 410 in the installation component 420, which is conducive to further improving the compactness of the transfer platform 60 structure.

[0242] Since the second driver 410 and the third driver 510 are both installed in the mounting member 420, the output shaft of the second driver 410 deviates from the center of the mounting member 420. Therefore, the rotating mechanism 400 is provided with a gear transmission group so that the rotating shaft of the rotating mechanism 400 is located at the center of the mounting member 420, so that the stability of the rotating mechanism 400 supporting the first moving mechanism 300 can be improved, so that the rotating mechanism 400 is subjected to balanced force, and the first moving mechanism 300 drives the sample box 10 to move stably.

[0243] In some embodiments, a guide structure is disposed between the base 530 and the mounting member 420 to guide the mounting member 420 to move in the longitudinal direction.

[0244] Exemplarily, the base 530 is provided with a second slide groove 531, which extends in the longitudinal direction; the mounting member 420 is provided with a second slide rail 421, which is slidably mounted in the second slide groove 531. Through the cooperation of the second slide groove 531 and the second slide rail 421, not only can the mounting member 420 be reliably connected to the base 530, but also the mounting member 420 can be slidably mounted on the base 530, and the second slide groove 531 and the second slide rail 421 have high linear motion accuracy, which is conducive to improving the position accuracy of the sample box 10 in the longitudinal direction.

[0245] According to the above description, the transfer platform 60 utilizes the first moving mechanism 300 , the rotating mechanism 400 and the second moving mechanism 500 to drive the sample box 10 to transfer between the sample taking and placing mechanism 30 , the scanning mechanism 50 , the tube picking mechanism 40 and the second taking and placing port.

[0246] When the transfer platform 60 drives the sample box 10 to move to the tube picking position, the tube picking mechanism 40 selects the sample tube in the sample box 10. Since the tube picking mechanism 40 has the function of moving in the vertical direction and the function of clamping and releasing the sample tube, the transfer platform 60 uses the first moving mechanism 300 and the rotating mechanism 400 to adjust the position of the sample box 10 in the horizontal plane, so that the set sample tube is located below the tube picking mechanism 40, so that the tube picking mechanism 40 can clamp and release the sample tube.

[0247] Thus, the position limit of the sample box 10 at the tube picking position affects the accuracy of the tube picking operation and is very important. The position limit structure provided on the transfer platform 60 is described in detail below in conjunction with the accompanying drawings to limit the position of the sample box 10 at the tube picking position.

[0248] Reference Figure 6 and Figure 7 The transfer platform 60 may include an elastic member 600 located at one side of the sample box 10 along the second direction and configured to elastically expand and contract along the second direction.

[0249] The second direction intersects the first direction. The second direction may be perpendicular to the first direction. The second direction may be Figure 6 and Figure 7 The D2 axis direction in Figure 6 and Figure 7 In the orientation shown, the second direction is parallel to the longitudinal direction, that is, the D2 axis direction is parallel to the Y axis direction. The plane defined by the first direction and the second direction is the first plane. The first plane is the plane defined by the D1 axis direction and the D2 axis direction, and the first plane is parallel to the XY plane.

[0250] The transfer platform 60 of the embodiment of the present application can not only limit the position of the sample box 10 along the second direction by using the elastic force of the elastic component 600 by setting the elastic component 600; the elastic force of the elastic component 600 acting on the sample box 10 along the second direction is variable, which is conducive to the smooth movement of the sample box 10 along the first direction.

[0251] The transfer platform 60 may include a limiting member 700, which is disposed on the first moving mechanism 300 and moves along the first direction driven by the first moving mechanism 300. The limiting member 700 is configured to limit the position of the sample box 10 along the first direction.

[0252] In this way, the transfer platform 60 limits the position of the sample box 10 along the first direction and the second direction by providing the elastic member 600 and the limiting member 700 , thereby ensuring the accuracy of the tube picking operation.

[0253] In addition, in the embodiment of the present application, an elastic member 600 and a limiting member 700 are used to limit the position of the sample box 10 in the first direction and the second direction, respectively, so that the position definition in each direction is more accurate, which is conducive to improving the accuracy of the tube picking operation.

[0254] In some embodiments of the present application, when the limiting member 700 limits the position of the sample box 10 along the first direction, the elastic member 600 is configured to elastically contact the sample box 10 along the second direction to limit the position of the sample box 10 along the second direction.

[0255] In this way, when the first moving mechanism 300 drives the sample box 10 to move along the first direction until the limiting member 700 abuts against the sample box 10 , the elastic member 600 abuts against the sample box 10 , thereby limiting the position of the sample box 10 in the first plane.

[0256] The tube picking mechanism 40 is configured to select a set sample tube from the sample box 10 when the elastic member 600 restricts the sample box 10 along the second direction and the limiting member 700 restricts the sample box 10 along the first direction, so as to ensure the accuracy of the tube picking operation.

[0257] like Figure 6 and Figure 7 As shown, the first moving mechanism 300 drives the sample box 10 to move along the first direction in the moving channel 201, so that the moving channel 201 has a tube picking position and an unlocking position.

[0258] When the first moving mechanism 300 drives the sample box 10 to move to the tube picking position, the limiting member 700 restricts the sample box 10 in the accommodating portion 311 along the first direction, and the elastic member 600 elastically contacts the sample box 10. Then, the tube picking mechanism 40 is configured to pick a sample tube from the sample box 10.

[0259] When the first moving mechanism 300 drives the sample box 10 to move to the unlocking position, the elastic member 600 and the limiting member 700 are separated from the sample box 10 respectively, and the position limitation of the sample box 10 is released.

[0260] Therefore, in the process of the transfer platform 60 of the embodiment of the present application driving the sample box 10 to move along the first direction by the first moving mechanism 300, the limiting member is driven to move along the first direction, so that the sample box 10 moves between the tube picking position and the unlocking position. In other words, the position of the sample box 10 is limited and unlocked in the process of moving the sample box 10 along the first direction, without the need to arrange an additional driving mechanism, which is conducive to simplifying the structure of the transfer platform 60.

[0261] Generally, during the tube selection process, the tube selection mechanism 40 selects a target sample tube from one of the sample boxes 10, places the target sample tube into another sample box 10, and finally transfers the sample box 10 to achieve the transfer of the target sample tube. Therefore, during the entire tube selection process, the positions of the two different sample boxes 10 need to be defined respectively.

[0262] In some embodiments, two elastic members 600 and two limiting members 700 may be provided respectively to limit two sample boxes 10 respectively to ensure the accuracy of tube selection and tube placement.

[0263] In other embodiments, one elastic member 600 and one limiting member 700 may be provided respectively, and the first moving mechanism 300 may be used to drive the sample box 10 to move between the tube picking position and the unlocking position, so that the two sample boxes 10 may be alternately moved to the tube picking position to implement the tube picking operation.

[0264] In some embodiments, in combination Figure 6 and Figure 7 The accommodating member 310 is structured to form two accommodating portions 311 , and the two accommodating portions 311 are respectively located on both sides of the limiting member 700 along the first direction.

[0265] The first moving mechanism 300 is configured to selectively move one of the accommodating portions 311 so that the sample box 10 in the accommodating portion 311 elastically contacts the elastic member 600 and abuts against the limiting member 700 .

[0266] exist Figure 6 In the embodiment, a first sample box 11 and a second sample box 12 are respectively placed on both sides of the limiting member 700 along the first direction. Figure 6 In the embodiment, the first moving mechanism 300 drives the accommodating portion 311 to move along the first direction, so that the first sample box 11 elastically contacts the elastic member 600 to limit the position of the first sample box 11 along the second direction; and the end of the limiting member 700 away from the second sample box 12 abuts against the first sample box 11, thereby limiting the position of the first sample box 11 along the first direction.

[0267] exist Figure 7 In order to illustrate the structure of the accommodating portion 311, the first sample box 11 is not shown. Figure 7 In the embodiment, the first moving mechanism 300 drives the accommodating portion 311 to move along the first direction, so that the second sample box 12 is in elastic contact with the elastic member 600 to limit the position of the second sample box 12 along the second direction; and the end of the limiting member 700 away from the first sample box 11 abuts against the second sample box 12, thereby limiting the position of the second sample box 12 along the first direction.

[0268] In some embodiments of the present application, the first moving mechanism 300 drives the first sample box 11 to move to the tube picking position along the first direction, uses the limiting member 700 to limit the position of the first sample box 11 along the first direction, and uses the elastic member 600 to limit the position of the first sample box 11 along the second direction, and then the tube picking mechanism 40 selects the target sample tube from the first sample box 11, such as Figure 6 shown.

[0269] Then, the first moving mechanism 300 drives the first sample box 11 to move along the first direction to the unlocking position, so that the elastic member 600 and the limiting member 700 are respectively separated from the sample box 10. At the same time, the first moving mechanism 300 drives the second sample box 12 to move along the first direction to the tube picking position, and uses the limiting member 700 to limit the position of the second sample box 12 along the first direction, and uses the elastic member 600 to limit the position of the second sample box 12 along the second direction, and then the tube picking mechanism 40 places the target sample tube in the second sample box 12, as shown in FIG. Figure 7 shown.

[0270] Therefore, the accommodating member 310 of the embodiment of the present application is constructed with two accommodating parts 311, which can accommodate two sample boxes 10 at the same time. The two accommodating parts 311 are respectively located on both sides of the limiting member 700 along the first direction. The first moving mechanism 300 is used to drive the accommodating member 310 to move along the first direction, so that the sample boxes 10 in the two accommodating parts 311 are alternately moved to the tube picking position, so that the tube picking mechanism 40 can pick a tube from one sample box 10 and put the tube into the other sample box 10. The positioning operation of the two sample boxes 10 is simple, which is conducive to improving the tube picking efficiency.

[0271] The structure and function of the elastic member 600 and the limiting member 700 in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0272] In some possible implementations, the elastic member 600 is disposed on the base 200 and is located on one side of the moving channel 201 along the second direction, and when the accommodating member 310 moves along the moving channel 201, the sample box 10 does not contact the two sides of the moving channel 201. At least a portion of the elastic member 600 extends into the moving channel 201, and when the sample box 10 moves to the elastic member 600, the elastic member 600 is compressed and pressed against the sample box 10 along the second direction, thereby achieving the limitation of the sample box 10 along the second direction.

[0273] In some embodiments of the present application, a first rack 332 is provided on one side of the moving channel 201 along the second direction, and the elastic member 600 is located on the other side of the moving channel 201 along the second direction to avoid mutual interference between the elastic member 600 and the first rack 332 .

[0274] In some embodiments of the present application, Figure 7The elastic member 600 includes a second elastic member 610 configured to expand and contract along a second direction. The second elastic member 610 may be an elastic member such as a compression spring or an elastic column.

[0275] In some embodiments of the present application, the elastic member 600 includes a second stopper 620, and the second stopper 620 is connected to the second elastic member 610. The second stopper 620 is configured to abut against the sample box 10 along the second direction.

[0276] The second stopper 620 is slidably mounted on the base 200 , so that the second stopper 620 can move along the second direction to abut against the sample box 10 or move away from the sample box 10 .

[0277] The second limiting member 620 and the second elastic member 610 are both located at one side of the accommodating member 310 along the second direction to limit the position of the sample box 10 along the second direction.

[0278] The second limiting member 620 may be a rectangular plate extending along the first direction, which can ensure a sufficient abutting length with the sample box 10 and ensure the reliability of limiting in the second direction; and can also occupy a smaller installation space.

[0279] The dimension of the second limiting member 620 along the first direction is larger than the dimension of the sample box 10 along the first direction, so that the sides of the sample box 10 along the first direction are all subjected to the elastic force of the second limiting member 620, which is beneficial to improve the accuracy of the second limiting member 620 in limiting the sample box 10.

[0280] The second elastic member 610 has a first end and a second end along the second direction. The first end of the second elastic member 610 is fixed relative to the base 200, and the second end of the second elastic member 610 abuts against the second limiting member 620 to drive the second limiting member 620 to slide along the second direction, so that the second limiting member 620 abuts against the sample box 10, or moves away from the sample box 10.

[0281] Combination Figure 8 and Fig. 9 When the first moving mechanism 300 drives the sample box 10 to move to contact with the second limiting member 620, the second limiting member 620 compresses the second elastic member 610 along the second direction, and the elastic force of the second elastic member 610 acts on the sample box 10, thereby pressing the sample box 10 against the accommodating portion 311 along the second direction.

[0282] The first end of the second elastic member 610 along the second direction is fixed relative to the base 200 , and the second end of the second elastic member 610 along the second direction is configured to push the second limiting member 700 along the second direction.

[0283] In some implementations, the second limiting member 620 is provided with a mounting cavity 621 , the mounting cavity 621 extends along the second direction, and the second elastic member 610 is mounted in the mounting cavity 621 .

[0284] The elastic member 600 further includes a first fastener 630, one end of which passes through the mounting cavity 621 and is fixed to the base 200. The second elastic member 610 is located on a side of the first fastener 630 along the second direction toward the accommodating portion 311, and the first end of the second elastic member 610 abuts against the first fastener 630. The first fastener 630 is fixed to the base 200 to provide support for the elastic deformation of the second elastic member 610.

[0285] When the second limiting member 620 is subjected to a force in the second direction, the second elastic member 610 is compressed, and the mounting cavity 621 slides relative to the first fastener 630 , so that the position of the second limiting member 620 in the second direction changes, thereby making the second limiting member 620 elastically contact with the sample box 10 .

[0286] In some examples, the second stopper 620 is provided with a plurality of mounting cavities 621, and the plurality of mounting fronts are arranged at intervals along the first direction. A second elastic member 610 and a first fastener 630 are provided in each mounting cavity 621. In this way, the balance of the elastic force of the second stopper 620 along the first direction can be improved, the uniformity of the elastic force of the elastic member 600 on the sample box 10 along the first direction can be ensured, and the possibility of the sample box 10 tilting can be reduced.

[0287] In some embodiments, the elastic member 600 further includes a cover 640, which is located above the second stopper 620. The first fastener 630 passes through a connection hole on the cover 640 and is fixedly connected to the base 200. The cover 640 is used to limit the vertical position of the second stopper 620, and the cover 640 is used to shield and cover the second elastic member 610.

[0288] In some embodiments, the elastic member 600 may further include a sleeve 660, the sleeve 660 is located in the installation cavity 621, and the first fastener 630 passes through the sleeve 660 and is fixedly connected to the base 200. The first end of the second elastic member 610 abuts against the sleeve 660. In this way, the sleeve 660 and the installation cavity 621 can be used to provide guidance for the sliding of the second limiter 620 along the second direction, and the sleeve 660 can also be used to provide support for the elastic deformation of the second elastic member 610, and the first fastener 630 can be flexibly selected to be fixed to the base 200.

[0289] Continue to refer to Figure 7 and Fig. 9In some embodiments of the present application, the elastic member 600 further includes: a plurality of rollers 650, which are arranged at intervals along the first direction. The rollers 650 are rotatably mounted on the second stopper 620; the circumferential surface of the rollers 650 is configured to contact the sample box 10, so that the plurality of rollers 650 are in rolling contact with the sample box 10, which is conducive to reducing friction.

[0290] Thus, the second stopper 620 elastically contacts the sample box 10 through the roller 650 to limit the sample box 10 along the second direction. Moreover, the sample box 10 contacts the roller 650 to reduce the friction force on the sample box 10, which is conducive to improving the smoothness of the sample box 10 moving along the first direction.

[0291] Combination Fig.10 The base 200 is provided with an inclined guide portion 211 , and the inclined guide portion 211 is used to guide the movement of the limiting member 700 .

[0292] In the embodiment of the present application, the inclined guide portion 211 is located in the moving channel 201 , and the inclined guide portion 211 is disposed on the bottom plate of the base 200 , so as to guide the limiting member 700 .

[0293] Exemplarily, the inclined guide portion 211 may be a groove disposed on the bottom plate of the base 200 , which has a simple structure and is convenient for cooperating with the limiting member 700 .

[0294] The extending direction of the inclined guide portion 211 intersects with the first direction, and the angle between the inclined guide portion 211 and the first direction is an acute angle. Fig.10 , along the positive direction of the D1 axis, the inclined guide portion 211 is inclined toward the side plate of the base 200 away from the first rack 332 .

[0295] The inclined guide portion 211 of the embodiment of the present application is inclined relative to the first rack 332, so that the limiting member 700 is displaced along the first direction relative to the accommodating member 310, so that the limiting member 700 can abut against the sample box 10 on the accommodating member 310 to limit the position of the sample box 10 along the first direction.

[0296] Continue to refer to Fig.10 The base 200 is also provided with: a first straight guide portion 212 , the first straight guide portion 212 extends along the first direction, and the first straight guide portion 212 is connected to one end of the inclined guide portion 211 .

[0297] The guide portion of the embodiment of the present application can ensure that the limiting member 700 can smoothly enter and exit the inclined guide portion 211 through the first straight guide portion 212, and can ensure the stability and reliability of the limiting force of the limiting member 700 on the sample box 10 by the first straight guide portion 212, by setting the first straight guide portion 212; it can also ensure that the limiting force of the limiting member 700 between the first straight guide portion 212 and the sample box 10 is stable, thereby avoiding that the limiting force of the limiting member 700 is too large to damage the sample box 10, and avoiding that the limiting force of the limiting member 700 is too small to affect the accuracy of the position of the sample box 10.

[0298] In some embodiments, the guide portion may further include a second straight guide portion 213 extending along the first direction and connected to the other end of the inclined guide portion 211 .

[0299] The guide portion of the embodiment of the present application can ensure that the limiting member 700 can smoothly enter and exit the inclined guide portion 211 via the second straight guide portion 213, and can ensure the stability and reliability of the limiting force of the limiting member 700 on the sample box 10 by the second straight guide portion 213, by providing the second straight guide portion 213. It can also ensure the stability of the limiting force of the limiting member 700 between the second straight guide portion 213 and the sample box 10, thereby avoiding that the limiting force of the limiting member 700 is too large to damage the sample box 10, and avoiding that the limiting force of the limiting member 700 is too small to affect the accuracy of the position of the sample box 10.

[0300] The guide portion of the embodiment of the present application is provided with a first straight guide portion 212 and a second straight guide portion 213 at both ends of the inclined guide portion 211, so that the limiting member 700 can smoothly enter and exit the inclined guide portion 211 during the movement along the first direction, thereby ensuring the stability of the movement of the limiting member 700. Moreover, by providing two straight guide portions, the limiting member 700 can stably and reliably limit the sample box 10 when it moves to any straight guide portion.

[0301] Continue to refer to Fig.10 The limiting member 700 includes: a first limiting member 710, and the first limiting member 710 is configured to form a matching portion 711. The first limiting member 710 is configured to contact the sample box 10 to limit the position of the sample box 10 along the second direction.

[0302] Exemplarily, the matching portion 711 may be a matching groove provided on the first limiting member 710 .

[0303] The limiting member 700 may include a link mechanism 720 , a first end of the link mechanism 720 may be slidably mounted on the inclined guide portion 211 , and a second end of the link mechanism 720 may be slidably mounted on the matching portion 711 .

[0304] Exemplarily, the first end of the link mechanism 720 is a protruding structure, at least a portion of the protruding structure is accommodated in the groove-shaped guide portion, and the protruding structure can rotate relative to the guide portion.

[0305] Exemplarily, the second end of the connecting rod mechanism 720 is a protruding structure, at least a portion of the protruding structure is accommodated in the groove-shaped matching portion 711 , and the protruding structure can rotate relative to the matching portion 711 .

[0306] In some embodiments, the first end of the link mechanism 720 slides along the inclined guide portion 211, and the position of the link mechanism 720 along the second direction changes; the second end of the link mechanism 720 slides along the matching portion 711, and the extension direction of the matching portion 711 intersects with the extension direction of the inclined guide portion 211. For example, the matching portion 711 can extend along the second direction, so that the matching position of the second end of the link mechanism 720 and the first stopper 710 changes along the second direction, thereby preventing the link mechanism 720 from driving the first stopper 710 to move along the second direction and affecting the position of the sample box 10 along the second direction.

[0307] Reference Fig.10 The limiting member 700 further includes a connecting member 730 , which is connected to the output end of the first moving mechanism 300 and moves along the first direction under the drive of the first moving mechanism 300 .

[0308] The connecting rod mechanism 720 is rotatably connected to the connecting member 730, so that the connecting rod mechanism 720 can rotate relative to the connecting member 730. In this way, the first moving mechanism 300 drives the connecting rod mechanism 720 to move through the connecting member 730.

[0309] Exemplarily, the output end of the first moving mechanism 300 is connected to the accommodating member 310 , the accommodating member 310 is fixedly connected to the connecting member 730 , and the first moving mechanism 300 drives the connecting rod mechanism 720 to move along the inclined guide portion 211 through the accommodating member 310 and the connecting member 730 .

[0310] When the first end of the connecting rod mechanism 720 slides along the inclined guide portion 211, the second end of the connecting rod mechanism 720 slides along the matching portion 711, and drives the first limiting member 710 to move along the first direction relative to the connecting member 730, so that the first limiting member 710 abuts against the sample box 10 to limit the position of the sample box 10 along the first direction; or, so that the first limiting member 710 is separated from the sample box 10 to release the restriction of the first limiting member 710 on the sample box 10.

[0311] In some embodiments of the present application, when the first end of the connecting rod mechanism 720 slides along the inclined guide portion 211 , the second end of the connecting rod mechanism 720 drives the first limiting member 710 to slide relative to the accommodating component 310 .

[0312] That is to say, the first moving mechanism 300 drives the limiting member 700 to move as a whole along the first direction. During this process, the connecting rod mechanism 720, under the guidance of the inclined guide portion 211, drives the first limiting member 710 to slide along the first direction relative to the accommodating member 310 and the connecting member 730, thereby abutting against the sample box 10 along the first direction, thereby realizing position limitation of the sample box 10 along the first direction.

[0313] Combination Fig.10 A guide rail structure 740 that slides along the first direction is formed between the connecting member 730 and the first limiting member 710 to limit the linear accuracy of the first limiting member 710 sliding along the first direction.

[0314] Exemplarily, the guide rail structure 740 includes a third slide groove 741 and a third slide rail 742, the third slide rail 742 is slidably installed in the third slide groove 741, and the third slide rail 742 and the third slide groove 741 extend along the first direction. One of the third slide groove 741 and the third slide rail 742 is disposed on the connecting member 730, and the other of the third slide groove 741 and the third slide rail 742 is disposed on the first stopper 710.

[0315] Reference Fig.11 and Fig.12 The connecting rod mechanism 720 includes a first shaft 721 , and the first shaft 721 is rotatably mounted on the connecting member 730 .

[0316] The first shaft 721 may extend vertically. The first shaft 721 may be fixed to the connecting member 730. For example, the connecting member 730 may be provided with a shaft hole extending vertically, and the first shaft 721 may be rotatably installed in the shaft hole. Both ends of the first shaft 721 along its axial direction protrude from two vertical surfaces of the connecting member 730.

[0317] Combination Fig.10 and Fig.12 The link mechanism 720 includes: a first link 722 , a first end of the first link 722 is slidably mounted on the inclined guide portion 211 , and a second end of the first link 722 is fixed to the first end of the first shaft 721 .

[0318] Exemplarily, the first connecting rod 722 includes a first rod body 7221 and a second shaft 7222. The first rod body 7221 can be arranged on a horizontal plane (corresponding to Fig.10The first rod 7221 is fixed to the first end of the first shaft 721. The second shaft 7222 extends vertically, one end of the second shaft 7222 is fixed to one end of the first rod 7221, and the other end of the second shaft 7222 is accommodated in the inclined guide portion 211 and slides along the inclined guide portion 211. When the first shaft 721 drives the first connecting rod 722 to rotate, the second shaft 7222 rotates in the inclined guide portion 211.

[0319] Reference Fig.12 and Fig.14 The connecting rod mechanism 720 may include a second connecting rod 723, which is located above the first connecting rod 722, wherein the first end of the second connecting rod 723 is fixedly connected to the second end of the first shaft 721, and the second end of the second connecting rod 723 is slidably mounted on the matching portion 711.

[0320] Exemplarily, the second connecting rod 723 includes a second rod body 7231 and a third shaft 7232. The second rod body 7231 can be arranged on a horizontal plane (corresponding to Fig.10 The second rod 7231 is fixed to the second end of the first shaft 721 in the plane defined by the axis D1 and the axis D2. The third shaft 7232 extends vertically, one end of the third shaft 7232 is fixed to one end of the second rod 7231, and the other end of the third shaft 7232 is accommodated in the matching portion 711 and slides along the matching portion 711. When the first shaft 721 drives the second connecting rod 723 to rotate, the third shaft 7232 rotates in the inclined guide portion 211.

[0321] Reference Fig.10 and Fig.15 The first moving mechanism 300 drives the connecting member 730 to move in the first direction, and the connecting member 730 drives the entire link mechanism 720 and the first stopper 710 to move in the first direction through the first shaft 721. Since the first connecting rod 722 moves along the inclined guide portion 211, the second connecting rod 723 is driven to rotate relative to the first shaft 721 through the first shaft 721. Due to the guiding restriction of the second connecting rod 723 by the matching portion 711, the second connecting rod 723 drives the first stopper 710 to move relative to the connecting member 730 in the first direction.

[0322] exist Fig.15In the orientation shown in , when the first moving mechanism 300 drives the connecting member 730 to move along the positive direction of the first direction (positive direction of the D1 axis), the first connecting rod 722 moves from left to right along the inclined guide portion 211, and drives the second connecting rod 723 to rotate clockwise through the first axis 721; due to the guiding restriction of the matching portion 711 on the second connecting rod 723, the second connecting rod 723 slides along the matching portion 711, and the second connecting rod 723 drives the first limiting member 710 to move relative to the connecting member 730 along the negative direction of the first direction (negative direction of the D1 axis), thereby limiting the sample box 10 on the left side of the connecting rod mechanism 720. For example, Figure 6 In the structure shown in FIG. 1 , the first sample box 11 is limited.

[0323] When the first connecting rod 722 moves from left to right along the inclined guide portion 211 to the second straight guide portion 213, the first stopper 710 contacts the sample box 10 to limit the position of the sample box 10 along the first direction. Even if the first connecting rod 722 continues to move along the second straight guide portion 213, the force exerted by the first stopper 710 on the sample box 10 does not change, so that the first stopper 710 can be prevented from squeezing the sample box 10.

[0324] exist Fig.15 In the orientation shown, when the first moving mechanism 300 drives the connecting member 730 to move along the negative direction of the first direction (negative direction of the D1 axis), the first connecting rod 722 moves from right to left along the inclined guide portion 211, and drives the second connecting rod 723 to rotate counterclockwise through the first axis 721; due to the guiding restriction of the matching portion 711 on the second connecting rod 723, the second connecting rod 723 slides along the matching portion 711, and the second connecting rod 723 drives the first limiting member 710 to move relative to the connecting member 730 along the positive direction of the first direction (positive direction of the D1 axis), thereby limiting the sample box 10 on the right side of the connecting rod mechanism 720. For example, Figure 7 In the structure shown in FIG. 1 , the second sample box 12 is limited.

[0325] When the first connecting rod 722 moves from right to left along the inclined guide portion 211 to the first straight guide portion 212, the first stopper 710 contacts the sample box 10 to limit the position of the sample box 10 along the first direction. Even if the first connecting rod 722 continues to move along the first straight guide portion 212, the force exerted by the first stopper 710 on the sample box 10 does not change, so that the first stopper 710 can be prevented from squeezing the sample box 10.

[0326] It should be noted here that Fig.15 The positions of the link mechanisms 720 on the first straight guide portion 212 , the inclined guide portion 211 , and the second straight guide portion 213 are schematically shown in FIG. 1 , but this does not mean that three link mechanisms 720 are provided.

[0327] Continue to refer to Fig.13 and Fig.14 In some embodiments, the limiting member 700 includes: a first elastic member 750, which is disposed at the end of the first limiting member 710 along the first direction; the first elastic member 750 is configured to be retracted along the first direction; and the first elastic member 750 is configured to be in elastic contact with the sample box 10. In this way, the first limiting member 710 can be elastically structured with the sample box 10 through the second elastic member 610, which is not only conducive to improving the reliability of limiting the position of the sample box 10 along the first direction, but also the elastic contact between the first limiting member 710 and the sample box 10 can reduce the possibility of the sample box 10 being squeezed and damaged by the first limiting member 710.

[0328] In some embodiments, the end of the first stopper 710 is connected to the first elastic member 750, and the first elastic member 750 is in direct contact with the sample box 10. For example, the end of the first stopper 710 along the first direction is connected to the elastic pad, and the elastic pad is in direct contact with the sample box 10. Such a configuration makes the structure of the first elastic member 750 simple and easy to assemble.

[0329] In other embodiments, Fig.14 As shown, the limiting member 700 may further include an abutment member 760, which is configured to directly contact the sample box 10. In this way, the first limiting member 710 indirectly contacts the sample box 10 through the abutment member 760 to limit the position of the sample box 10 along the second direction.

[0330] The first stopper 710 is provided with a receiving hole extending in the first direction, one end of the first elastic member 750 is fixed in the receiving hole, and the other end of the first elastic member 750 extends out of the receiving hole and is connected to the abutment member 760. In this way, the abutment member 760 is elastically connected to the first stopper 710 through the first elastic member 750.

[0331] Exemplarily, a plurality of first elastic members 750 are arranged at intervals along the second direction of the abutting member 760 to increase the elastic force between the abutting member 760 and the first limiting member 710 .

[0332] In this embodiment, the abutment member 760 is provided to contact the sample box 10 , thereby increasing the elastic contact area with the sample box 10 , which is beneficial to improving the reliability and stability of the limiting of the sample box 10 .

[0333] In some possible implementations, the first elastic member 750 is configured to form a through hole, for example, the first elastic member 750 is a cylindrical spring.

[0334] The first limiting member 710 is provided with a guide hole, which is connected to the receiving hole and arranged coaxially. The diameter of the guide hole is smaller than the space of the receiving hole, so that one end of the first elastic member 750 abuts against the end of the receiving hole.

[0335] The limiting member 700 may include a guide post 770 , one end of which is connected to the abutment member 760 , and the other end of which passes through the receiving hole and the guide hole, so that the guide post 770 can slide along the guide hole.

[0336] In this way, the cooperation between the guide column 770 and the guide hole is used to limit the movement of the abutment member 760 along the first direction, so that the abutment member 760 is pressed against the abutment member 760 along the first direction.

[0337] In the above embodiment, the transfer platform 60 sets two limiting structures to limit the sample box 10 in the first direction and the second direction respectively. Specifically, the limiting member 700 is used to limit the sample box 10 in the first direction, and the elastic member 600 is used to limit the sample box 10 in the second direction. In this way, while the position of the sample box 10 is fixed in the second position, the sample box 10 is ensured to move smoothly in the first direction.

[0338] In other embodiments, referring to Figure 6 and Figure 7 The freezing device is provided with a clamping mechanism 70, and the clamping mechanism 70 is configured to gradually clamp the sample box 10 in the second direction as the sample box 10 gradually reaches the second position.

[0339] In some embodiments of the present application, a clamping mechanism 70 is provided to clamp the sample box 10 along the second direction. Due to the clamping force of the clamping mechanism 70 on the sample box 10, there is a static friction between the sample box 10 and the clamping mechanism 70 along the first direction. Under the action of the static friction, the sample box 10 is limited along the first direction. In this way, the positions of the sample box 10 in the first direction and the second direction are fixed, which facilitates the accuracy of the tube picking mechanism 40 in taking and placing the sample tube.

[0340] In some possible implementations, the clamping mechanism 70 may include a second elastic member 610 that can be extended and retracted along the second direction. The second elastic member 610 can enable the clamping mechanism 70 to elastically clamp the sample box 10, and at the same time, facilitate the first moving mechanism 300 to drive the sample box 10 to move along the first direction while limiting the position.

[0341] Since the second elastic member 610 and the first rack 332 are respectively located on both sides of the accommodating member 310 along the second direction, the first moving mechanism 300 drives the accommodating member 310 to move along the first direction without interfering with the clamping of the clamping mechanism 70 .

[0342] Continue to refer to Figure 6 and Figure 7In some embodiments, the clamping mechanism 70 may further include a receiving member 310. As the sample box 10 gradually reaches the second position, the second elastic member 610 cooperates with the receiving member 310 to clamp the sample box 10 along the second direction.

[0343] In the embodiment of the present application, the clamping mechanism 70 utilizes the cooperation between the second elastic member 610 and the accommodating member 310 to achieve elastic clamping of the sample box 10, that is, the clamping mechanism 70 reuses the accommodating member 310 for accommodating the sample box 10 to achieve clamping of the sample box 10 along the second direction, which helps to simplify the structure of the clamping mechanism 70.

[0344] In some embodiments of the present application, the accommodating portion 311 has two first side walls 3111 , which are opposite to each other and spaced apart along the second direction, wherein one of the first side walls 3111 is close to the second elastic member 610 , and the other first side wall 3111 is far away from the second elastic member 610 .

[0345] As the sample box 10 gradually reaches the second position, the second elastic member 610 and the first side wall 3111 away from the second elastic member 610 clamp the sample box 10. That is, as the sample box 10 gradually reaches the second position, the second elastic member 610 presses the sample box 10 along the second direction, thereby clamping the sample box 10.

[0346] In some embodiments of the present application, the accommodating portion 311 is in the shape of a groove, which performs preliminary positioning of the sample box 10 to prevent the sample box 10 from escaping from the accommodating portion 311. The clamping mechanism 70 uses the first side wall 3111 of the accommodating portion 311 and the second elastic member 610 to clamp the sample box 10, which is conducive to simplifying the structure of the clamping mechanism 70 and can also make the positioning of the sample box 10 more stable. In addition, in this arrangement, when in the first position, the sample box is away from the second elastic member 610, and the sample box 10 is still located in the accommodating portion 311, which is convenient for the transportation of the sample box 10.

[0347] The clamping mechanism 70 of some embodiments of the present application may further include other structures of the elastic member 600, which will not be described in detail.

[0348] Combination Figure 7 In some other embodiments, the freezing device is provided with a clamping component, and the clamping component is configured to gradually clamp the sample box 10 in the first direction as the sample box 10 gradually reaches the second position.

[0349] The clamping component may include the limiting member 700 of the above-mentioned embodiment.

[0350] The clamping component may include an accommodating member 310 , and as the sample box 10 gradually reaches the second position, the limiting member 700 cooperates with the accommodating member 310 to clamp the sample box 10 along the first direction.

[0351] The accommodating portion 311 has two second side walls 3112 , which are opposite to each other and spaced apart along the first direction. As the sample box 10 gradually reaches the second position, the limiting member 700 clamps the sample box 10 with the second side walls 3112 away from the limiting member 700 .

[0352] In some embodiments of the present application, a clamping component is provided to clamp the sample box 10 along a first direction. Due to the clamping force of the clamping component on the sample box 10, a static friction force exists between the sample box 10 and the clamping component along a second direction. Under the action of the static friction force, the sample box 10 is limited along the second direction. In this way, the positions of the sample box 10 in the second direction and the first direction are fixed, which facilitates the accuracy of the tube picking mechanism 40 in taking and placing the sample tube.

[0353] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0354] For the convenience of explanation, the above description has been made in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are to better explain the principles and practical applications, so that those skilled in the art can better use the embodiments and various different variations of the embodiments suitable for specific use considerations.

Claims

1. A freezing device, characterized in that: include: The box assembly (100) is constructed as follows: A storage chamber (101) configured to store a sample box (10) containing medical materials; a cache chamber (102), configured to selectively communicate with the cache chamber (102); A transfer station (60) is disposed in the buffer chamber (102) and is configured to transfer the sample box (10); The transfer station (60) comprises: A first moving mechanism (300) is configured to drive the sample box (10) to move along a first direction; An elastic member (600) is located on one side of the sample box (10) along the second direction and is configured to elastically expand and contract along the second direction; wherein the second direction intersects with the first direction; A limiting component (700) is connected to the first moving mechanism (300) and moves along a first direction driven by the first moving mechanism (300); When the limiting member (700) limits the position of the sample box (10) along the first direction, the elastic member (600) is configured to elastically contact the sample box (10) along the second direction; The tube picking mechanism (40) is located above the transfer platform (60); the tube picking mechanism (40) is configured to select a set sample tube from the sample box (10) when the elastic member (600) restricts the sample box (10) along the second direction and the limiting member (700) restricts the sample box (10) along the first direction.

2. The freezing device according to claim 1, characterized in that: The transfer platform (60) comprises: a base (200); the base (200) is fixedly connected to a first moving mechanism (300); An inclined guide portion (211) is provided on the base (200); an extending direction of the inclined guide portion (211) intersects with the first direction, and an angle between the inclined guide portion (211) and the first direction is an acute angle; When the first moving mechanism (300) drives the sample box (10) to move along the first direction, one end of the limiting member (700) slides along the inclined guide portion (211), and when the elastic member (600) abuts against the sample box (10), the other end of the limiting member (700) abuts against the end of the sample box (10) along the first direction.

3. The freezing device according to claim 2, characterized in that: The limiting component (700) comprises: A connecting member (730) connected to an output end of the first moving mechanism (300) and moving along the first direction under the drive of the first moving mechanism (300); A first limiting member (710) is configured to form a matching portion (711); the first limiting member (710) is configured to contact the sample box (10); A connecting rod mechanism (720), wherein a first end of the connecting rod mechanism (720) is slidably mounted on the inclined guide portion (211), and a second end of the connecting rod mechanism (720) is slidably mounted on the matching portion (711); the connecting rod mechanism (720) is rotatably connected to the connecting member (730); When the first end of the connecting rod mechanism (720) slides along the inclined guide portion (211), the second end of the connecting rod mechanism (720) slides along the matching portion (711), and drives the first limiting member (710) to move along the first direction relative to the connecting member (730), so that the first limiting member (710) abuts against or separates from the sample box (10).

4. The freezing device according to claim 3, characterized in that: The connecting rod mechanism (720) comprises: A first connecting rod (722), wherein a first end of the first connecting rod (722) is slidably mounted on the inclined guide portion (211); A first shaft (721), wherein a first end of the first shaft (721) is fixedly connected to a second end of a first connecting rod (722); the first shaft (721) is rotatably mounted on a connecting member (730); The second connecting rod (723) is located above the first connecting rod (722), and an angle is formed between the second connecting rod (723) and the first connecting rod (722); the first end of the second connecting rod (723) is fixedly connected to the second end of the first shaft (721), and the second end of the second connecting rod (723) can be slidably installed on the matching portion (711).

5. The freezing device according to claim 4, characterized in that: A guide rail structure (740) that slides along the first direction is formed between the connecting member (730) and the first limiting member (710).

6. The freezing device according to claim 3, characterized in that: The limiting component (700) comprises: A first elastic member (750), the first elastic member (750) is arranged at an end of the first limiting member (710) along a first direction; the first elastic member (750) is configured to be retracted along the first direction; the first elastic member (750) is configured to be in elastic contact with the sample box (10).

7. The freezing device according to claim 3, characterized in that: The base (200) is also formed with: The first straight guide portion (212) extends along the first direction, and the first straight guide portion (212) is connected to one end of the inclined guide portion (211).

8. The freezing device according to claim 3, characterized in that: The base (200) is also formed with: The second straight guide portion (213) extends along the first direction, and the second straight guide portion (213) is connected to the other end of the inclined guide portion (211).

9. The freezing device according to any one of claims 1 to 8, characterized in that: The transfer station (60) further comprises a receiving member (310), wherein the receiving member (310) is connected to the output end of the first moving mechanism (300); the receiving member (310) is structured to form a receiving portion (311) for receiving the sample box (10); Two accommodating portions (311) are provided, and the two accommodating portions (311) are respectively located on two sides of the limiting component (700) along the first direction; The first moving mechanism (300) is configured to selectively move one of the accommodating portions (311) until the sample box (10) in the accommodating portion (311) elastically contacts the elastic member (600) and abuts against the limiting member (700).

10. The freezing device according to any one of claims 1 to 8, characterized in that: The elastic member (600) comprises: A second elastic member (610) is configured to expand and contract along the second direction; A second limiting member (620) connected to the second elastic member (610); the second limiting member (620) is configured to contact the sample box (10); When the first moving mechanism (300) drives the sample box (10) to move to contact with the second limiting member (620), the second limiting member (620) compresses the second elastic member (610) along the second direction.

11. The freezing device according to claim 10, characterized in that: The elastic member (600) further comprises: A plurality of rollers (650) are arranged at intervals along the first direction; the rollers (650) are rotatably mounted on the second limiting member (620); and the circumferential surface of the rollers (650) is configured to contact the sample box (10).

12. The freezing device according to any one of claims 1 to 8, characterized in that: The transfer station (60) also includes: A rotating mechanism (400), wherein an output end of the rotating mechanism (400) is connected to the first moving mechanism (300); The rotating mechanism (400) drives the first moving mechanism (300) to rotate around a rotating axis; the rotating axis is perpendicular to a first plane, and the first plane is a plane determined by the first direction and the second direction.

13. The freezing device according to claim 12, characterized in that: The transfer station (60) also includes: The second moving mechanism (500) is configured to drive the rotating mechanism (400) and the first moving mechanism (300) to move within the first plane.

14. A freezing device, characterized in that: include: A first moving mechanism (300) is configured to drive the sample box (10) to move from a first position to a second position along a first direction; The second position is a position where the medical material sample in the sample box (10) is taken and placed by the tube picking mechanism (40) above the first moving mechanism (300); A clamping mechanism (70) is configured to gradually clamp the sample box (10) in a second direction as the sample box (10) gradually reaches the second position; wherein the second direction is perpendicular to the first direction; The clamping mechanism (70) comprises: a second elastic member (610) capable of extending and retracting along the second direction.

15. The freezing device according to claim 14, characterized in that: The clamping mechanism (70) further includes: a receiving member (310); The accommodating member (310) is configured to accommodate the sample box (10); the accommodating member (310) is connected to the output end of the first moving mechanism (300), and moves along the first direction under the drive of the first moving mechanism (300); The second elastic member (610) is located on one side of the accommodating member (310) along the second direction; As the sample box (10) gradually reaches the second position, the second elastic member (610) cooperates with the accommodating member (310) to clamp the sample box (10) along the second direction.

16. The freezing device according to claim 15, characterized in that: The accommodating member (310) is structured to form an accommodating portion (311), and the accommodating portion (311) is used to accommodate the sample box (10); the accommodating portion (311) has two first side walls (3111) spaced apart and opposite to each other along the second direction; As the sample box (10) gradually reaches the second position, the second elastic member (610) and the first side wall (3111) away from the second elastic member (610) clamp the sample box (10).

17. The freezing device according to claim 15, characterized in that: The first moving mechanism (300) comprises: A first driver (320), wherein an output end of the first driver (320) is connected to the accommodating member (310), and the first driver (320) is configured to drive the accommodating member (310) to move along the first direction.

18. The freezing device according to claim 17, characterized in that: The first moving mechanism (300) comprises: A first gear (331) connected to an output end of the first driver (320); A first rack (332) meshes with the first gear (331) and extends along the first direction; the first rack (332) is fixedly connected to the accommodating component (310); The first rack (332) and the second elastic member (610) are respectively located on two sides of the accommodating component (310) along the second direction.

19. The freezing device according to any one of claims 14 to 18, characterized in that: The cryopreservation device includes: A base (200) configured to mount a first moving mechanism (300); The clamping mechanism (70) comprises: A second limiting member (620) is slidably mounted on the base (200); the second limiting member (620) is configured to abut against the sample box (10) along the second direction; The second elastic member (610) has a first end and a second end along its extension direction; the first end of the second elastic member (610) is fixed relative to the base (200), and the second end is in contact with the second limiting member (620) to drive the second limiting member (620) to slide along the second direction.

20. The freezing device according to claim 19, characterized in that: The second limiting member (620) extends along the first direction, and a dimension of the second limiting member (620) along the first direction is greater than a dimension of the sample box (10) along the first direction.

21. The freezing device according to claim 19, characterized in that: A plurality of second elastic members (610) are provided, and the plurality of second elastic members (610) are arranged at intervals along the first direction.

22. The freezing device according to claim 19, characterized in that: The second limiting member (620) is provided with a mounting cavity (621) extending along the second direction; A first fastener (630) fixed on the base (200) is inserted into the installation cavity (621); The second elastic member (610) is arranged in the installation cavity (621) and is located on a side of the first fastener (630) facing the sample box (10); the first end of the second elastic member (610) abuts against the first fastener (630); As the sample box (10) gradually reaches the second position, the second elastic member (610) abuts against the sample box (10) along the second direction via the second limiting member (620).

23. The freezing device according to claim 22, characterized in that: The clamping mechanism (70) further comprises: a sleeve (660), wherein the sleeve (660) is located in the installation cavity (621); The first fastener (630) passes through the sleeve (660) and is fixedly connected to the base (200); The first end of the second elastic member (610) abuts against the sleeve (660).

24. The freezing device according to claim 23, characterized in that: The clamping mechanism (70) further comprises: a plurality of rollers (650); the plurality of rollers (650) are arranged at intervals along the first direction; The roller (650) is rotatably mounted on the second limiting member (620); When the first moving mechanism (300) drives the sample box (10) to move from the first position to the second position along the first direction, the plurality of rollers (650) are in rolling contact with the sample box (10).

25. The freezing device according to any one of claims 14 to 18, characterized in that: The transfer station (60) also includes: A rotating mechanism (400), wherein an output end of the rotating mechanism (400) is connected to the first moving mechanism (300); the rotating mechanism (400) drives the first moving mechanism (300) to rotate around a rotating axis; the rotating axis is perpendicular to a first plane, and the first plane is a plane determined by the first direction and the second direction; The second moving mechanism (500) is configured to drive the rotating mechanism (400) and the first moving mechanism (300) to move within the first plane.

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