Sample transfer mechanism, refrigeration storage device and sample transfer mechanism control method

Abstract

The invention belongs to the technical field of automation, and provides a sample transfer mechanism, a refrigeration storage device and a sample transfer mechanism control method.The sample transfer mechanism comprises a sample transfer mechanism body, and the sample transfer mechanism body comprises a sample clamping jaw, a sample moving module, a first recorder and a second recorder; the sample clamping jaw is connected with a motion output end of the sample moving module, the sample moving module is used for moving the sample clamping jaw, the first recorder is used for recording information of taken-out cryopreserved samples, the second recorder is used for recording information of stored cryopreserved samples, and the first recorder and the second recorder are adjacently arranged. According to the sample transfer mechanism, the refrigeration storage device and the sample transfer mechanism control method provided by the invention, sample taking-out information recording and sample storage information recording can be performed in real time, the sample transfer steps are fewer, and even if sample errors are found during storage, the samples can be quickly put back to the original sample box, so that the sample transfer efficiency is improved. And the sample transfer efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic grasping, and more specifically, relates to a sample transfer mechanism, a refrigeration storage device and a sample transfer mechanism control method. Background Art

[0002] In the biomedical industry, in the field of biological sample storage, ultra-low temperature refrigerators are needed to store biological samples. Biological sample banks are important basic equipment for current research in the medical and biological fields. Through low-temperature storage, blood, stem cells and immune cell biological tissues can remain active for a long time. In related technologies, samples are generally stored in cryogenic tubes, which are then placed in cryogenic boxes and stored in ultra-low temperature refrigerators.

[0003] When it is necessary to select a tube, the corresponding cryotube must be located first, the cryotube must be selected from the cryotube and recorded, and then the cryotube must be placed in a transfer bucket, the rotating bucket must be transported to another cryobox, and the placement of the cryotube must be recorded. Therefore, there are many steps to select a tube, and the efficiency of selecting a tube is low. Moreover, if an error occurs when scanning the code to confirm the result after selecting a tube, the operation must be re-done, which further reduces the efficiency of selecting a tube. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a sample transfer mechanism, a refrigeration storage device and a sample transfer mechanism control method to solve the technical problems of multiple tube picking steps and low efficiency in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is: to provide a sample transfer mechanism, including a sample transfer mechanism for transferring frozen samples, the sample transfer mechanism comprising: Sample gripper, used to grip frozen samples; A sample moving module, wherein the sample clamp is connected to a motion output end of the sample moving module, and the sample moving module is used to move the sample clamp; A first recorder, used to record information of the taken frozen sample; and A second recorder, used to record information of the stored frozen samples; The first recorder and the second recorder are disposed adjacent to each other.

[0006] In the above scheme, after the sample gripper grabs the sample from the corresponding sample box through the sample moving module, the first recorder records and transmits the retrieval information to the host computer, and then the sample gripper moves to the second recorder, and the second recorder records and transmits the storage information to the host computer. Therefore, the sample retrieval information and sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the sample can be quickly put back into the original sample box, thereby improving the efficiency of sample transfer.

[0007] Optionally, the sample transfer mechanism also includes a sample placement structure, which has a first placement position and a second placement position that are adjacent to each other, the first recorder and the first placement position are correspondingly arranged, and the second recorder and the second placement position are correspondingly arranged; the first placement position is used to place a first sample box, and the frozen sample to be taken out is located in the first sample box, and the second placement position is used to place a second sample box, and the frozen sample to be stored will be stored in the second sample box.

[0008] In the above scheme, by setting the first placement position and the second placement position, the first sample box and the second sample box have a predetermined placement area. When the sample is transferred, the first sample box can be directly transferred to the second sample box, without having to take out the frozen sample from the first sample box and put it into the transfer box, and then after a series of transfer operations, take it out from the transfer box and put it into the second sample box.

[0009] Optionally, a third recorder is provided at the first placement position, and the third recorder is used to record the information of the first sample box; and a fourth recorder is provided at the second placement position, and the fourth recorder is used to record the information of the second sample box.

[0010] In the above scheme, by setting the third recorder and the fourth recorder, it is possible to record which sample box the frozen sample is taken out from and into which sample box it is put, which is conducive to achieving unified management of frozen samples and sample boxes.

[0011] Optionally, the sample placement structure has a first accommodating cavity and a second accommodating cavity, the first accommodating cavity has a first opening, the second accommodating cavity has a second opening, the third recorder and the fourth recorder are respectively located at the bottom of the first accommodating cavity and the second accommodating cavity, the first recorder is adjacent to the first opening, and the second recorder is adjacent to the second opening.

[0012] In the above scheme, by providing the first accommodating cavity and the second accommodating cavity, the first sample box and the second sample box can be respectively arranged inside the two accommodating cavities, the sample box is more stable, there is no risk of tipping over, and the space of the sample placement structure can be fully utilized. In addition, the third recorder is located at the bottom of the first accommodating cavity, and the fourth recorder is located at the bottom of the second accommodating cavity, which is convenient for scanning and recording the sample box.

[0013] Optionally, the first recorder, the second recorder, the third recorder and the fourth recorder are all code scanning mechanisms, and the frozen samples, the first sample box and the second sample box are all provided with identification codes.

[0014] In the above scheme, the frozen samples, the first sample box and the second sample box are all provided with identification codes, so that during the sample transfer process, the code can be clearly scanned to record the information of the frozen samples transferred from the first sample box, the information of the frozen samples stored in the second sample box, etc.

[0015] Optionally, the sample moving module includes a first moving component, a second moving component and a third moving component which are sequentially connected in transmission, the sample clamp is connected to the motion output end of the third moving component, the first moving component is used to output motion in a first direction, the second moving component is used to output motion in a second direction, and the third moving component is used to output motion in a third direction, the third direction is a vertical direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0016] In the above solution, the sample moving module can realize the movement of the sample clamp in three degrees of freedom, so the sample clamp can grasp, release and move the frozen sample.

[0017] Optionally, the sample moving module further includes a mounting frame, which is fixedly connected to the motion output end of the first moving component, and the second moving component is mounted on a crossbeam of the mounting frame and is located above the first recorder and the second recorder.

[0018] In the above solution, by setting up the mounting frame, the second moving assembly, the third moving assembly and the sample clamp can be set above the first placement position and the second placement position, so that the sample clamp can move above the sample box.

[0019] The present invention also provides a refrigeration storage device, comprising the above-mentioned sample transfer mechanism.

[0020] Optionally, the refrigeration storage device also includes a sample box transfer mechanism, which includes a sample box moving module and a sample box clamp connected to the motion output end of the sample box moving module, the sample box clamp is used to clamp the sample box, and the motion output direction of the sample box moving module is the second direction.

[0021] In the above scheme, the first sample box and / or the second sample box can be transferred by setting the sample box transfer mechanism, and the transfer direction of the sample box is the second direction. When placing the sample box, the second moving component, the third moving component and the sample clamp can be first moved away from the placement position (the first placement position and the second placement position) of the sample box by the first moving component, and then the sample box is transferred to avoid interference with the second moving component, the third moving component and the sample clamp.

[0022] Optionally, the first recorder and the second recorder are arranged at intervals along the second direction.

[0023] In the above solution, in order to more conveniently scan the frozen samples at the first placement position and the second placement position, the first recorder and the second recorder are also arranged at intervals along the second direction.

[0024] The present invention also provides a sample transfer mechanism control method, which is applied to the above-mentioned sample transfer mechanism or refrigeration storage device to transfer the first sample box to the first placement position and the second sample box to the second placement position; The sample gripper clamps the frozen sample from the first sample box, and records the removal information of the frozen sample from the first sample box through the first recorder; The sample clamp moves from above the first placement position to above the second placement position, records the storage information of the frozen sample into the second sample box through the second recorder, and then puts the frozen sample into the second sample box.

[0025] In the above scheme, after the sample gripper grabs the sample from the corresponding sample box through the sample moving module, the first recorder records and transmits the retrieval information to the host computer, and then the sample gripper moves to the second recorder, and the second recorder records and transmits the storage information to the host computer. Therefore, the sample retrieval information and sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the sample can be quickly put back into the original sample box, thereby improving the efficiency of sample transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 The three-dimensional structure of the sample transfer mechanism provided by the embodiment of the present invention Figure 1 ; Figure 2 The three-dimensional structure of the sample transfer mechanism provided by the embodiment of the present invention Figure 2 ; Figure 3 A partial three-dimensional structural diagram of a refrigeration storage device provided in an embodiment of the present invention; Figure 4 A three-dimensional structural diagram of the bottom of a sample transfer mechanism provided by an embodiment of the present invention; Figure 5 A three-dimensional structural diagram of the top of the sample transfer mechanism provided in an embodiment of the present invention.

[0028] Among them, the reference numerals in the figure are: 10-sample moving module; 11-first moving component; 111-first motor; 112-first pulley assembly; 113-first slider; 114-first slide rail; 115-first sensor; 12-second moving component; 121-second motor; 122-second pulley assembly; 123-second sensor; 13-third moving component; 20-sample clamp; 31-first recorder; 32-second recorder; 33-third recorder; 34-fourth recorder; 35-sample placement structure; 3501-first placement position; 3502-second placement position; 351-placing plate; 352-bottom plate; 353-support side plate; 40-mounting frame; 50-sample box transfer mechanism; 51-sample box moving module; 52-sample box clamp. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention 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 operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In addition, 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] In the biomedical industry, in the field of biological sample storage, ultra-low temperature refrigerators are needed to store biological samples. Biological sample banks are important basic equipment for current research in the medical and biological fields. Through low-temperature storage, blood, stem cells and immune cell biological tissues can remain active for a long time. In related technologies, samples are generally stored in cryogenic tubes, which are then placed in cryogenic boxes and stored in ultra-low temperature refrigerators.

[0034] When it is necessary to select a tube, the corresponding cryotube must be located first, the cryotube must be selected from the cryotube and recorded, and then the cryotube must be placed in a transfer bucket, the rotating bucket must be transported to another cryobox, and the placement of the cryotube must be recorded. Therefore, there are many steps to select a tube, and the efficiency of selecting a tube is low. Moreover, if an error occurs when scanning the code to confirm the result after selecting a tube, the operation must be re-done, which further reduces the efficiency of selecting a tube.

[0035] In order to alleviate or solve the above technical problems, the present invention proposes a sample transfer mechanism, which includes a first recorder 31 and a second recorder 32 that are adjacent to each other. During the transfer process of frozen samples such as cryotubes, it is necessary to record the removal from a sample box and the storage in another sample box. The first recorder 31 is used to record the information of the frozen samples taken out, and the second recorder 32 is used to record the information of the frozen samples stored. After recording the removal of the frozen samples, the frozen samples can be immediately moved to the freezing box at the second recorder 32, and the sample removal information and sample storage information can be recorded in real time, which can shorten the sample transfer time and improve the efficiency of sample transfer.

[0036] The sample transfer mechanism provided in the embodiment of the present invention is now described.

[0037] Please also read Figures 1 to 5 The sample transfer mechanism is used to transfer frozen samples, and the sample transfer mechanism includes: The sample clamp 20 is used to clamp the frozen sample; The sample moving module 10, the sample clamping claw 20 is connected to the motion output end of the sample moving module 10, and the sample moving module 10 is used to move the sample clamping claw 20; A first recorder 31, used to record information of the taken frozen samples; and A second recorder 32, used to record information of the stored frozen samples; The first recorder 31 and the second recorder 32 are disposed adjacent to each other.

[0038] A frozen sample refers to a sample frozen and stored at a predetermined freezing temperature, and the frozen sample can be a cryotube. The sample transfer mechanism is used to transfer the frozen sample. More specifically, it can be understood that the sample transfer mechanism transfers the frozen sample from one sample box to another sample box for storage. In the process of transferring the frozen sample, it is necessary to record which frozen sample is taken from which sample box and which sample box is stored in which frozen sample.

[0039] The sample clamp 20 has the function of clamping and releasing the frozen sample. The sample clamp 20 can grab the frozen sample from the sample box (with the sample to be taken), and can also release the taken frozen sample to another sample box. The motion output end of the sample moving module 10 is connected to the sample clamp 20, which can drive the sample clamp 20 to move, so that the sample clamp 20 can at least move between the adjacent first recorder 31 and the adjacent second recorder 32, and can also move the sample clamp 20 up and down, so as to realize the clamping and transfer of the frozen sample by the sample clamp 20.

[0040] The first recorder 31 is used to record the frozen samples taken out. When the sample clamp 20 takes out the sample from the sample box (with the sample to be taken), the information of the frozen sample taking out is recorded. Specifically, the information recorded by the first recorder 31 is that a frozen sample has been taken out from a sample box. The second recorder 32 is used to record the frozen samples stored. When the sample clamp 20 places the frozen sample in the corresponding sample box, the information of the frozen sample storage is recorded. Specifically, the information recorded by the second recorder 32 is that a frozen sample has been stored in a sample box. Both the sample removal information and the sample storage information are transmitted to the host computer to realize the automated management of sample transfer. Moreover, the first recorder 31 and the second recorder 32 are arranged adjacent to each other, and the sample removal information and the sample storage information can be recorded in real time, thereby shortening the time of sample transfer and improving the efficiency of sample transfer.

[0041] Specifically, when it is necessary to transfer a sample, first locate the sample box where the sample is located, transfer the sample box to a place close to the first recorder 31, then move the sample clamp 20 to the sample box through the sample moving module 10, take out the corresponding frozen sample, and after taking it out, record the removal information of the frozen sample through the first recorder 31, then move the sample clamp 20 to a place close to the second recorder 32 through the sample moving module 10, and the second recorder 32 records the storage information of the frozen sample, and finally release the frozen sample to another freezing box through the sample clamp 20.

[0042] The sample transfer mechanism in the above embodiment includes a sample transfer mechanism for transferring frozen samples, and the sample transfer mechanism includes a sample moving module 10, a sample clamp 20, a first recorder 31 and a second recorder 32. After the sample clamp 20 grabs the sample from the corresponding sample box through the sample moving module 10, the first recorder 31 records and transmits the retrieval information to the host computer, and then the sample clamp 20 moves to the second recorder 32, and the second recorder 32 records and transmits the storage information to the host computer. Therefore, the sample retrieval information can be recorded and the sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the frozen sample can be quickly put back into the original sample box, thereby improving the efficiency of sample transfer.

[0043] In some embodiments of the present invention, see Figure 1 and Figure 2 The sample transfer mechanism also includes a sample placement structure 35, which has a first placement position 3501 and a second placement position 3502 that are adjacent to each other. The first recorder 31 and the first placement position 3501 are correspondingly arranged, and the second recorder 32 and the second placement position 3502 are correspondingly arranged; the first placement position 3501 is used to place a first sample box, and the frozen sample to be taken out is located in the first sample box, and the second placement position 3502 is used to place a second sample box, and the frozen sample to be stored will be stored in the second sample box.

[0044] The sample placement structure 35 is used to place the first sample box and the second sample box. Specifically, the first sample box is used to be placed in the first placement position 3501, and the second sample box is used to be placed in the second placement position 3502. The first sample box stores at least the frozen sample to be taken out, and the second sample box can be an empty box or a sample box containing other frozen samples. The first recorder 31 and the first placement position 3501 are correspondingly arranged, which means that the first recorder 31 can record the information of the frozen sample taken out from the first placement position 3501; the second recorder 32 and the second placement position 3502 are correspondingly arranged, which means that the second recorder 32 can record the information of the frozen sample stored in the second placement position 3502. When transferring samples, first move the first sample box and the second sample box to the first placement position 3501 and the second placement position 3502 respectively, then the sample clamp 20 moves to the first placement position 3501, grabs the frozen sample to be taken out from the first sample box, and the first recorder 31 records the information of the frozen sample being taken out from the first sample box and transmits it to the host computer, then the sample clamp 20 moves to the second placement position 3502, the second recorder 32 records the information of the frozen sample being stored in the second sample box, and transmits it to the host computer, and finally the sample clamp 20 places the frozen sample in the second sample box.

[0045] By setting the first placement position 3501 and the second placement position 3502, the first sample box and the second sample box have a predetermined placement area. When transferring samples, the first sample box can be directly transferred to the second sample box without having to take out the frozen samples from the first sample box and put them into a transfer box, and then take them out of the transfer box and put them into the second sample box after a series of transfer operations.

[0046] When the second sample box is empty, it can be understood that the sample transfer mechanism can take the frozen sample out of the storage space. When the second sample box is filled with other samples, it can be understood that the sample transfer mechanism can transfer the frozen sample to the second sample box for storage, thereby achieving fragmented management of the frozen sample.

[0047] In some embodiments, see Figure 1 The first recorder 31 and the second recorder 32 are both fixed on the sample placement structure 35, specifically, can be fixed on the top of the sample placement structure 35. When the sample clamp 20 takes out the frozen sample or prepares to put it in, the first recorder 31 and the second recorder 32 have sufficient space to scan the frozen sample.

[0048] In some embodiments of the present invention, see Figure 1 and Figure 2, the first placement position 3501 has a third recorder 33, and the third recorder 33 is used to record the information of the first sample box; the second placement position 3502 has a fourth recorder 34, and the fourth recorder 34 is used to record the information of the second sample box. When the first sample box is transferred to the first placement position 3501, the third recorder 33 can record the information of the first sample box, and then transmit the information that the frozen sample is taken out of the first sample box to the host computer. Among them, the information of the first sample box refers to the information of the first sample box, such as the coding, label, QR code, barcode, etc. that can distinguish it from other sample boxes. When the second sample box is transferred to the second placement position 3502, the fourth recorder 34 can record the information of the second sample box, and then transmit the information that the frozen sample is stored in the second sample box to the host computer. Among them, the information of the second sample box refers to the information of the second sample box, such as the coding, label, barcode, etc. that can distinguish it from other sample boxes.

[0049] By setting the third recorder 33 and the fourth recorder 34, the information of which sample box the frozen sample was taken out from and which sample box it was put into can be recorded, which is conducive to the unified management of the frozen samples and sample boxes.

[0050] In other embodiments, the third recorder 33 may not be disposed at the first placement position 3501, and the information of the first sample box may be recorded before the first sample box moves to the first placement position 3501. The fourth recorder 34 may not be disposed at the second placement position 3502, and the information of the second sample box may be recorded before the second sample box moves to the second placement position 3502.

[0051] In some embodiments of the present invention, see Figure 1 and Figure 2 The sample placement structure 35 has a first accommodating chamber and a second accommodating chamber, the first accommodating chamber has a first opening, the second accommodating chamber has a second opening, the third recorder 33 and the fourth recorder 34 are respectively located at the bottom of the first accommodating chamber and the second accommodating chamber, the first recorder 31 is adjacent to the first opening, and the second recorder 32 is adjacent to the second opening. The first placement position 3501 is located in the first accommodating chamber, and the second placement position 3502 is located in the second accommodating chamber. When transferring the sample box, the first sample box is transferred to the first accommodating chamber, and the second sample box is transferred to the second accommodating chamber. The third recorder 33 and the fourth recorder 34 record the first sample box and the second sample box respectively, and then the sample clamp 20 transfers the frozen sample in the first sample box to the second sample box.

[0052] By providing the first accommodating cavity and the second accommodating cavity, the first sample box and the second sample box can be respectively arranged inside the two accommodating cavities, the sample box is more stable, there is no risk of tipping over, and the space of the sample placement structure 35 can be fully utilized. In addition, the third recorder 33 is located at the bottom of the first accommodating cavity, and the fourth recorder 34 is located at the bottom of the second accommodating cavity, which is convenient for scanning and recording the sample box.

[0053] In some embodiments, the first recorder 31 and the second recorder 32 are located on the top of the sample placement structure 35 and do not occupy the space of the first accommodating cavity and the second accommodating cavity, and the position setting of the first recorder 31 and the second recorder 32 is more flexible.

[0054] In some embodiments, the first recorder 31 and the second recorder 32 are respectively disposed on the side walls of the first accommodating cavity and the second accommodating cavity, without occupying the top space of the sample placement structure 35 .

[0055] In some embodiments, see Figure 1 The sample placement structure 35 includes a placement plate 351 having a first opening and a second opening, a first storage box embedded in the first opening, and a second storage box embedded in the second opening. The first storage box and the placement plate 351 have a first recessed portion at their junction. When the first sample box is placed inside the first storage cavity, the top edge of the first sample box is embedded in the first recessed portion to position the first sample box, and the bottom of the first sample box is spaced apart from the third recorder 33, thereby facilitating the third recorder 33 to scan the bottom of the first sample box to obtain information about the first sample box. The second storage box and the placement plate 351 have a second recessed portion at their junction. When the second sample box is placed inside the second storage cavity, the top edge of the second sample box is embedded in the second recessed portion to position the second sample box, and the bottom of the second sample box is spaced apart from the fourth recorder 34, thereby facilitating the fourth recorder 34 to scan the bottom of the second sample box to obtain information about the second sample box.

[0056] In other embodiments, a supporting structure is disposed at the bottom of the first accommodating chamber and the second accommodating chamber, the third recorder 33 and the fourth recorder 34 are disposed below the supporting structure, and the sample box is placed on the supporting structure. The supporting structure will not block the scanning area of ​​the third recorder 33 and the fourth recorder 34.

[0057] Optionally, the supporting structure may be a part of the third recorder 33 and the fourth recorder 34 , for example, a light-transmitting lens of the third recorder 33 and the fourth recorder 34 .

[0058] Optionally, the supporting structure is fixed to the inner walls of the first accommodating cavity and the second accommodating cavity. The supporting structure may be a stop structure formed by protrusions of the inner walls of the first accommodating cavity and the second accommodating cavity, and the sample box is placed on the stop structure. The supporting structure may also be a transparent supporting plate.

[0059] In some embodiments of the present invention, see Figure 1 and Figure 2 The first recorder 31 and the second recorder 32 are both code scanning mechanisms, and the frozen samples are provided with identification codes. In this way, during the sample transfer process, the transfer-out information and deposit-in information of the frozen samples can be clearly recorded by scanning the codes.

[0060] Optionally, the first recorder 31 and the second recorder 32 are recorders, and the identification code set on the frozen sample may be a barcode, a QR code, etc. The identification code on the frozen sample may be located on the side wall of the frozen sample.

[0061] In some embodiments of the present invention, see Figure 1 and Figure 2 The third recorder 33 and the fourth recorder 34 are both code scanning mechanisms, and the first sample box and the second sample box are both provided with identification codes. In this way, during the sample transfer process, the code can be clearly scanned to record information such as the transfer of frozen samples from the first sample box and the storage of frozen samples in the second sample box.

[0062] Optionally, the third recorder 33 and the fourth recorder 34 are code scanning cameras, and the identification codes set on the first sample box and the second sample box are bar codes, two-dimensional codes, etc. The identification codes on the first sample box and the second sample box may be located on the bottom wall of the sample box.

[0063] In some embodiments of the present invention, see Figure 1 and Figure 2 The sample moving module 10 includes a first moving component 11, a second moving component 12 and a third moving component 13 which are sequentially connected in transmission. The sample clamp 20 is connected to the motion output end of the third moving component 13. The first moving component 11 is used to output motion in the first direction, the second moving component 12 is used to output motion in the second direction, and the third moving component 13 is used to output motion in the third direction. The third direction is a vertical direction, and the first direction, the second direction and the third direction are perpendicular to each other. When the first moving component 11 is working, it drives the second moving component 12, the third moving component 13 and the sample clamp 20 to move in the first direction. When the second moving component 12 is working, it drives the third moving component 13 and the sample clamp 20 to move in the second direction. When the third moving component 13 is working, it drives the sample clamp 20 to move in the third direction (vertical direction). In this way, the sample moving module 10 can realize the motion of the sample clamp 20 in three degrees of freedom, so that the sample clamp 20 can clamp, release and move the frozen sample.

[0064] The present invention also provides a refrigeration storage device, which includes the sample transfer mechanism in any of the above embodiments. The refrigeration storage device can be a refrigerator or other device that can store frozen samples and can also transport and transfer frozen samples.

[0065] In some embodiments of the present invention, see Figure 3 The refrigeration storage device further includes a sample box transfer mechanism 50, which includes a sample box moving module 51 and a sample box clamp 52 connected to the motion output end of the sample box moving module 51, the sample box clamp 52 is used to clamp the sample box, and the motion output direction of the sample box moving module 51 is the second direction. The sample box transfer mechanism 50 is used to transfer the sample box, specifically, the sample box transfer mechanism 50 is used to move the first sample box to the first placement position 3501, or the sample box transfer mechanism 50 is used to move the second sample box to the second placement position 3502, or the sample box transfer mechanism 50 is used to move the first sample box to the first placement position 3501, and is used to move the second sample box to the second placement position 3502.

[0066] By setting up the sample box transfer mechanism 50, the first sample box and / or the second sample box can be transferred, and the transfer direction of the sample box is the second direction. When placing the sample box, the second moving component 12, the third moving component 13 and the sample clamp 20 can be first moved away from the placement position of the sample box (the first placement position 3501 and the second placement position 3502) by the first moving component 11, and then the sample box is transferred to avoid interference with the second moving component 12, the third moving component 13 and the sample clamp 20.

[0067] In some embodiments, see Figure 1 and Figure 2 , the first recorder 31 and the second recorder 32 are spaced apart along the second direction. Since the movement output direction of the sample box moving module 51 is the second direction, the first placement position 3501 and the second placement position 3502 are also arranged along the second direction, and accordingly, the transfer direction of the frozen sample is also the second direction. In order to more conveniently scan the frozen sample at the first placement position 3501 and the second placement position 3502, the first recorder 31 and the second recorder 32 are spaced apart along the second direction.

[0068] In some embodiments of the present invention, see Figure 4The first moving assembly 11 includes a first motor 111, a first pulley assembly 112, a first slide rail 114, and a first slider 113. The first motor 111 drives the first pulley assembly 112 to move, the belt of the first pulley assembly 112 translates, the first slider 113 is fixedly connected to the belt of the first pulley assembly 112, and the first slider 113 slides along the first direction on the first slide rail 114. In this way, the movement output end (first slider 113) of the first moving assembly 11 is realized in the first direction.

[0069] In some embodiments, see Figure 1 The sample placement structure 35 includes a bottom plate 352, and the bottom plate 352 can be located below the placement plate 351. The placement plate 351 and the bottom plate 352 are connected by a supporting side plate 353. The first motor 111 can be located between the bottom plate 352 and the placement plate 351 to make full use of the remaining space between the bottom plate 352 and the placement plate 351. The first pulley assembly 112 can be installed on the supporting side plate 353.

[0070] In some embodiments, the first moving assembly 11 further includes a first sensor 115 , and the first sensor 115 is used to detect whether the first sliding block 113 reaches the limit position.

[0071] In some embodiments of the present invention, see Figure 1 , Figure 4 and Figure 5 The sample moving module 10 further includes a mounting frame 40, which is fixedly connected to the motion output end of the first moving component 11, and the second moving component 12 is mounted on the crossbeam of the mounting frame 40 and is located above the first recorder 31 and the second recorder 32. When the first moving component 11 is working, the mounting frame 40, the second moving component 12, the third moving component 13 and the sample clamp 20 all move in the first direction, leaving space above the first placement position 3501 and the second placement position 3502, thereby avoiding the movement of the sample box clamp 52 in the second direction.

[0072] By setting the mounting frame 40, the second moving assembly 12, the third moving assembly 13 and the sample clamp 20 can be set above the first placement position 3501 and the second placement position 3502, so that the sample clamp 20 can move above the sample box.

[0073] In some embodiments of the present invention, see Figure 1 There are two first moving components 11, and the motion output ends of the two first moving components 11 are respectively connected to the two bottoms of the mounting frame 40, so that the movement of the mounting frame 40 in the first direction is more stable.

[0074] In some embodiments, the motion output end of the first moving component 11 is a first slider 113 , the mounting frame 40 is in a door shape, and the two bottom ends of the mounting frame 40 are fixedly connected to the two first sliders 113 respectively.

[0075] In some embodiments of the present invention, see Figure 5 The second moving assembly 12 includes a second motor 121, a second pulley assembly 122, a second slide rail, and a second slider. The second motor 121 drives the second pulley assembly 122 to move, the belt of the second pulley assembly 122 translates, the second slider is fixedly connected to the belt of the second pulley assembly 122, and the second slider slides along the second slide rail in the second direction. In this way, the motion output end (the second slider) of the second moving assembly 12 is moved in the second direction.

[0076] In some embodiments, the second moving assembly 12 is mounted on the mounting frame 40 . Specifically, the second motor 121 , the second pulley assembly 122 , the second slide rail, etc. may all be fixed on a crossbeam of the mounting frame 40 .

[0077] In some embodiments, the second moving component 12 includes a second sensor 123, and the second sensor 123 is used to detect whether the second sliding block moves to the limit position.

[0078] In some embodiments of the present invention, the third moving assembly 13 includes a third motor, a lead screw structure, a nut block, a third slider and a third slide rail, the nut block is threadedly connected to the lead screw structure, the third slider is fixedly connected to the nut block, and the third slider is slidably connected to the third slide rail. When the third motor is working, it drives the lead screw structure to rotate, and under the guidance and restriction of the third slider and the third slide rail, the third slider and the nut block move linearly along the third direction, and the sample clamp 20 is fixed to the third slider.

[0079] The present invention further provides a sample transfer mechanism control method, which is applied to the sample transfer mechanism in any of the above embodiments or the refrigeration storage device in any of the above embodiments. The sample transfer mechanism control method comprises the following steps: S10: transferring the first sample box to the first placement position 3501, and transferring the second sample box to the second placement position 3502; S20: The sample gripper 20 grabs the frozen sample from the first sample box, and the first recorder 31 records the information of taking out the frozen sample from the first sample box; S30: The sample gripper 20 moves from above the first placement position 3501 to above the second placement position 3502, records the storage information of the frozen sample into the second sample box through the second recorder 32, and then puts the frozen sample into the second sample box.

[0080] In step S10, the first sample box contains a frozen sample to be clamped, and the second sample box may be an empty box or a box containing other frozen samples. When the second sample box is an empty box, the sample transfer mechanism control method may be used to select a target frozen sample from the storage space. When the second sample box is a sample box containing other frozen samples, the sample transfer mechanism control method may be used to transfer the frozen sample inside the sample transfer mechanism (between each sample box).

[0081] In step S20, after the first recorder 31 records the removal information of the frozen sample from the first sample box, the removal information can be transmitted to the host computer.

[0082] In step S30, after the second recorder 32 records the storage information of the frozen sample in the second sample box, the storage information can be transmitted to the host computer.

[0083] According to the control method of the sample transfer mechanism provided by the present invention, after the sample clamp 20 grabs the sample from the corresponding sample box, the first recorder 31 records and transmits the retrieval information to the host computer, and then the sample clamp 20 moves to the second recorder 32, and the second recorder 32 records and transmits the storage information to the host computer. Therefore, the sample retrieval information and the sample storage information can be recorded in real time, the sample transfer steps are relatively small, and even if a sample error is found during storage, the sample can be quickly put back into the original sample box, thereby improving the efficiency of sample transfer.

[0084] In some embodiments of the present invention, a third recorder 33 is provided at the first placement position 3501 for recording information of the first sample box, and a fourth recorder 34 is provided at the second placement position 3502 for recording information of the second sample box. In this way, it is possible to record information about which frozen sample was taken out of which sample box and which sample box was stored, thereby realizing automated management of frozen samples.

[0085] In some embodiments of the present invention, in step S10 , the first sample box is transferred to the first placement position 3501 , and the second sample box is transferred to the second placement position 3502 , which can be achieved by the sample box transfer mechanism 50 described above.

[0086] In some embodiments of the present invention, in steps S20 and S30 , the sample gripper 20 can grasp, move, and release the frozen sample through the sample moving module 10 .

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A sample transfer mechanism, characterized in that: include: Sample gripper, used to grip frozen samples; A sample moving module, wherein the sample clamp is connected to a motion output end of the sample moving module, and the sample moving module is used to move the sample clamp; A first recorder, used to record information of the taken frozen samples; as well as A second recorder, used to record information of the stored frozen samples; The first recorder and the second recorder are disposed adjacent to each other.

2. The sample transfer mechanism according to claim 1, characterized in that: The sample transfer mechanism also includes a sample placement structure, which has a first placement position and a second placement position that are adjacent to each other. The first recorder is arranged correspondingly to the first placement position, and the second recorder is arranged correspondingly to the second placement position. The first placement position is used to place a first sample box, and the frozen sample to be taken out is located in the first sample box. The second placement position is used to place a second sample box, and the frozen sample to be stored will be stored in the second sample box.

3. The sample transfer mechanism according to claim 2, characterized in that: The first placement position has a third recorder, and the third recorder is used to record the information of the first sample box; the second placement position has a fourth recorder, and the fourth recorder is used to record the information of the second sample box.

4. The sample transfer mechanism according to claim 3, characterized in that: The sample placement structure has a first accommodating cavity and a second accommodating cavity, the first accommodating cavity has a first opening, the second accommodating cavity has a second opening, the third recorder and the fourth recorder are respectively located at the bottom of the first accommodating cavity and the second accommodating cavity, the first recorder is adjacent to the first opening, and the second recorder is adjacent to the second opening.

5. The sample transfer mechanism according to claim 3, characterized in that: The first recorder, the second recorder, the third recorder and the fourth recorder are all code scanning mechanisms, and the frozen samples, the first sample box and the second sample box are all provided with identification codes.

6. The sample transfer mechanism according to any one of claims 1 to 5, characterized in that: The sample moving module includes a first moving component, a second moving component and a third moving component which are sequentially connected in transmission. The sample clamp is connected to the motion output end of the third moving component. The first moving component is used to output motion in a first direction, the second moving component is used to output motion in a second direction, and the third moving component is used to output motion in a third direction. The third direction is a vertical direction, and the first direction, the second direction and the third direction are perpendicular to each other.

7. The sample transfer mechanism according to claim 6, characterized in that: The sample moving module also includes a mounting frame, which is fixedly connected to the motion output end of the first moving component. The second moving component is installed on the crossbeam of the mounting frame and is located above the first recorder and the second recorder.

8. A refrigeration storage device, characterized in that: Comprising the sample transfer mechanism described in any one of claims 1-7.

9. The refrigeration storage device according to claim 8, characterized in that: The refrigeration storage device also includes a sample box transfer mechanism, which includes a sample box moving module and a sample box clamp connected to the motion output end of the sample box moving module, the sample box clamp is used to clamp the sample box, and the motion output direction of the sample box moving module is the second direction.

10. The refrigeration storage device according to claim 9, characterized in that: The first recorder and the second recorder are arranged with an interval along the second direction.

11. A sample transfer mechanism control method, applied to the sample transfer mechanism according to any one of claims 1 to 7 or the refrigeration storage device according to any one of claims 8 to 10, characterized in that: The following steps are involved: Transferring the first sample box to a first placement position, and transferring the second sample box to a second placement position; The sample gripper clamps the frozen sample from the first sample box, and records the removal information of the frozen sample from the first sample box through the first recorder; The sample clamp moves from above the first placement position to above the second placement position, records the storage information of the frozen sample into the second sample box through the second recorder, and then puts the frozen sample into the second sample box.

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