Sample Refrigeration Storage Device and Sample Access Method

Abstract

Embodiments of the present disclosure disclose a sample refrigerated storage device and a sample access method. The sample refrigerated storage device includes a control module, a refrigerated storage module, a sample identification module, and a sample transportation module. The refrigerated storage module includes a refrigerated storage box, a refrigeration compression mechanism, and at least one sample storage tube. The sample identification module is configured to read an electronic tag on a sample to obtain sample information. The sample transportation module includes a power member, a negative pressure suction member, a rotating sample carrier disk, and at least one group of moving rods. Each sample carrying hole is provided on the rotating sample carrier disk. The control module is configured to control the sample transportation module to suck each upper sample corresponding to the upper sample information and the sample to be taken out according to the position information of the sample to be taken out, and control the sample transportation module to sequentially put the sucked upper samples back into the sample storage tubes, and control the sample transportation module to take out the sucked sample to be taken out. The sample refrigerated storage device can reduce the probability of sample damage.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of sample refrigerated storage devices, and particularly to sample refrigerated storage devices and sample access methods. Background Art

[0002] Refrigerated storage devices are devices for storing items such as samples at low temperatures. The space in refrigerated storage devices is limited. In order to store more samples, multiple samples are often stacked vertically in a sample storage tube. When a user only needs one sample in the middle of the sample storage tube, the related sample removal method is to take out the entire sample storage tube, then pour out all the samples from the sample storage tube, leave the required sample, put the other samples back into the sample storage tube, and then put the sample storage tube back into the refrigerated storage device.

[0003] However, the inventors found that when using the above sample removal method to access samples, the following technical problems often exist:

[0004] When pouring out all the samples from the sample storage tube, the samples are likely to collide with each other, and the sample removal process is relatively complex. It is necessary to pour out all the samples, which takes a longer time and causes the temperature of the samples to change, resulting in damage to the samples.

[0005] The above information disclosed in this background art section is only used to enhance the understanding of the background of the inventive concept. Summary of the Invention

[0006] This summary of the disclosure is used to introduce concepts in a brief form, which will be described in detail in the following detailed implementation section. This summary of the disclosure is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0007] Some embodiments of the present disclosure propose a sample refrigerated storage device and a sample access method to solve one or more of the technical problems mentioned in the above background art section.

[0008] In a first aspect, some embodiments of the present disclosure provide a sample refrigerated storage device, which includes a control module, a refrigerated storage module, a sample identification module, and a sample transportation module. Among them, the refrigerated storage module includes a refrigerated storage box, a refrigeration compression mechanism, and at least one sample storage tube. The at least one sample storage tube is located inside the refrigerated storage box, and the at least one sample storage tube is used for vertically stacking samples; the sample identification module is located on the side of the refrigerated storage module, and the sample identification module is used to read the electronic tag on the sample to obtain sample information; the sample transportation module is located above the refrigeration compression mechanism and the sample identification module. The sample transportation module includes a power component, a negative pressure suction component, a rotating sample carrier, and at least one set of moving rods. The power component is used to drive the rotating sample carrier to move on the at least one set of moving rods. The negative pressure suction component is used to adsorb the sample into the rotating sample carrier. Each sample carrying hole is provided on the rotating sample carrier; the control module is communicatively connected to the refrigeration compression mechanism, the sample identification module, and the sample transportation module. The control module is used to control the sample transportation module to store the sample in the corresponding sample storage tube according to the sample information collected by the sample identification module, and in response to receiving a sample removal instruction, determine the position information of the sample to be removed and the upper sample information according to the sample removal instruction, and according to the position information of the sample to be removed, control the sample transportation module to suck each upper sample corresponding to the upper sample information and the sample to be removed, and control the sample transportation module to sequentially return each sucked upper sample to the sample storage tube, and control the sample transportation module to remove the sucked sample to be removed.

[0009] In a second aspect, some embodiments of the present disclosure provide a sample access method, which is applied to the sample refrigerated storage device described in the first aspect. The sample access method includes: in response to receiving a sample removal instruction, determining the position information of the sample to be removed and the upper sample information corresponding to the sample removal instruction according to the sample removal instruction; according to the position information of the sample to be removed, controlling the sample transportation module to suck each upper sample corresponding to the upper sample information and the sample to be removed; controlling the sample transportation module to sequentially return each sucked upper sample to the sample storage tube; controlling the sample transportation module to remove the sucked sample to be removed.

[0010] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: The sample refrigeration storage device according to some embodiments of the present disclosure can reduce the probability of sample damage. Specifically, the reasons for sample damage are as follows: When all samples are poured out of the sample storage tube, the samples are likely to collide with each other, and the process of taking out the samples is relatively complicated. It is necessary to pour out all the samples from the entire sample, which takes a longer time and causes the temperature of the samples to change. Based on this, the low-temperature storage module in the sample refrigeration storage device according to some embodiments of the present disclosure includes a control module, a refrigeration storage module, a sample identification module, and a sample transportation module. The above-mentioned refrigeration storage module is used to provide low-temperature storage for samples. The above-mentioned sample identification module is used to identify sample information. The above-mentioned sample transportation module is used to adsorb and transport samples, and the rotating sample carrier plate included in the above-mentioned sample transportation module is provided with each sample carrying hole. Since the above-mentioned sample identification module can identify sample information, the storage position of the sample can be determined according to the sample information for subsequent extraction. Also, since the above-mentioned sample transportation module can adsorb and transport samples, and the rotating sample can carry multiple samples, the sample to be taken out and the samples above the sample to be taken out can be adsorbed at the same time, and the samples above the sample to be taken out can be put back again. There is no need to pour out all the samples from the sample storage tube, avoiding collisions of the samples during the pouring process, and there is no need to pour out all the samples again and no need to take out and put back the sample storage tube, reducing the time consumption and avoiding changes in the temperature of the samples. Thus, the sample refrigeration storage device according to some embodiments of the present disclosure can reduce the probability of sample damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more obvious. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements and elements are not necessarily drawn to scale.

[0012] Figure 1 is a schematic structural diagram of some embodiments of a sample refrigeration storage device according to the present disclosure;

[0013] Figure 2 is a schematic structural diagram of some embodiments of a sample identification module and a sample access module included in a sample refrigeration storage device according to the present disclosure;

[0014] Figure 3 is a flowchart of some embodiments of a sample access method according to the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0016] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "arranged" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

[0017] In addition, it should be noted that, for the convenience of description, only the parts related to the relevant disclosure are shown in the drawings. Without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

[0018] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of the functions performed by these devices, modules or units or the interdependent relationship.

[0019] It should be noted that the modifications of "one" and "plural" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0020] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0021] The present disclosure will be described in detail below with reference to the drawings and in combination with embodiments.

[0022] Figure 1 It is a schematic structural diagram of some embodiments of a sample refrigeration storage device according to the present disclosure. Figure 1 It includes a refrigeration storage module 1, a sample identification module 2, and a sample transportation module 3.

[0023] Figure 2 It is a schematic structural diagram of some embodiments of a sample identification module and a sample access module included in the sample refrigeration storage device according to the present disclosure. Figure 2 It includes a sample identification module 2 and a sample access module 4.

[0024] In some embodiments, the above-mentioned sample refrigeration storage device may include a control module, a refrigeration storage module 1, a sample identification module 2, and a sample transportation module 3. Among them, the above-mentioned refrigeration storage module 1 may include a refrigeration storage box, a refrigeration compression mechanism, and at least one sample storage tube. The above-mentioned at least one sample storage tube may be located inside the above-mentioned refrigeration storage box. The above-mentioned at least one sample storage tube may be used for vertically stacking samples. Among them, the above-mentioned control module may be a central processing unit. The above-mentioned refrigeration compression mechanism may be a compression mechanism for manufacturing cold air. The above-mentioned sample storage tube may be a hollow tube for storing samples. The above-mentioned refrigeration compression mechanism may be connected to a refrigeration pipeline. The above-mentioned refrigeration pipeline may be located around the above-mentioned storage tube. Specifically, the above-mentioned refrigeration pipeline may be rotationally wound around the outer circle of the above-mentioned sample storage tube.

[0025] In some embodiments, the above-mentioned sample identification module 2 may be located on the side of the above-mentioned refrigeration storage module 1. The above-mentioned sample identification module 2 is used to read the electronic tag on the sample to obtain sample information. The above-mentioned sample identification module 2 may be a card reader or a two-dimensional code scanner. The above-mentioned sample information may include a sample identifier, a sample name, and a sample preparation time. The above-mentioned sample identifier may uniquely represent the sample.

[0026] In some embodiments, the above-mentioned sample transportation module 3 may be located above the above-mentioned refrigeration compression mechanism and the above-mentioned sample identification module 2. The above-mentioned sample transportation module 3 may include a power component, a negative pressure adsorption component, a rotating sample carrier, and at least one group of moving rods. Among them, the above-mentioned power component may be an electric cylinder or an electromagnetic push rod. The above-mentioned power component may be used to drive the above-mentioned rotating sample carrier to move on the above-mentioned at least one group of moving rods. The above-mentioned negative pressure adsorption component may be used to adsorb the sample into the above-mentioned rotating sample carrier. Each sample loading hole may be provided on the above-mentioned rotating sample carrier.

[0027] In some embodiments, the above-mentioned control module may be communicatively connected to the above-mentioned refrigeration compression mechanism, the above-mentioned sample identification module 2, and the above-mentioned sample transportation module 3. The above-mentioned control module may be used to control the above-mentioned sample transportation module to store the sample in the corresponding sample storage tube according to the sample information collected by the above-mentioned sample identification module. And in response to receiving a sample removal instruction, according to the above-mentioned sample removal instruction, determine the position information of the sample to be removed and the above sample information. And according to the position information of the sample to be removed, control the above-mentioned sample transportation module to suck each of the above samples corresponding to the above sample information and the sample to be removed. And control the above-mentioned sample transportation module to sequentially put back each of the sucked above samples into the sample storage tube. And control the above-mentioned sample transportation module to remove the sucked sample to be removed.

[0028] Optionally, the above-mentioned sample refrigeration storage device may further include a sample access module 4. The above-mentioned sample access module 4 may be located on the side of the above-mentioned refrigeration storage module 1. The above-mentioned sample access module 4 may also be located below the above-mentioned sample transportation module 3. The above-mentioned sample access module 4 may include a sample access box, a sample carrier tray, and a moving mechanism. Among them, the above-mentioned sample access box may be a box for storing and taking out samples. The above-mentioned sample carrier tray may be a carrier tray for carrying samples. Various grooves may be provided on the above-mentioned sample carrier tray. The above-mentioned moving mechanism may include a moving stage and a stepping motor. The above-mentioned moving stage is used to carry the above-mentioned sample carrier tray. The above-mentioned stepping motor is used to drive the above-mentioned moving stage to move. The above-mentioned sample access box may be provided with an access port and a sample transfer port. The above-mentioned sample transfer port may be located below the above-mentioned sample transportation module. The above-mentioned sample carrier tray and the above-mentioned moving mechanism may be located inside the above-mentioned sample access box. The above-mentioned moving mechanism may be used to drive the above-mentioned sample carrier tray to move between below the above-mentioned sample transfer port and the above-mentioned access port.

[0029] Optionally, a sample fixing member may be provided on the side of the above-mentioned sample identification module 2. One side of the above-mentioned sample fixing member may be communicated with the above-mentioned sample transportation module 3 through a sample transfer pipeline. When the sample is fixed in the above-mentioned sample fixing member, the above-mentioned sample information reading member may read the electronic tag on the sample. In the working state, the sample in the above-mentioned sample access module 4 may be sucked to the above-mentioned sample fixing member by negative pressure. The above-mentioned sample transportation module 3 may suck the sample after reading the electronic tag from the above-mentioned sample fixing place and transport it to the above-mentioned refrigeration storage module 1.

[0030] Optionally, the above-mentioned sample fixing member may be a hexagonal fixing ring. Both sides of the above-mentioned hexagonal fixing ring may be covered with a transparent material. The transparent material may facilitate the above-mentioned sample identification module 2 to read the electronic tag on the sample. The lower end of the hexagonal fixing ring may be communicated with the above-mentioned sample access module 4. The side of the above-mentioned hexagonal fixing ring may be communicated with the above-mentioned sample transportation module 3. The above-mentioned sample information reading member may be an electronic tag reader. The above-mentioned sample identification module 2 may be provided on the side of the above-mentioned hexagonal fixing ring.

[0031] Optionally, the above-mentioned rotating sample carrier disk may include a fixed limiting disk and a rotating carrier disk. A transmission hole may be provided on the fixed limiting disk. Each sample carrier hole may be provided on the rotating carrier disk. The negative pressure suction attachment may include a suction head and a suction power member. The position of the suction head may correspond to the position of the transmission hole. The rotating carrier disk may be rotatably arranged between the fixed limiting disk and the suction head. Any sample carrier hole in the rotating carrier disk may communicate with the transmission hole and the suction head when rotated to a corresponding angle. When accessing the sample, the transmission hole may be moved above the corresponding sample storage tube. Any sample carrier hole in the rotating carrier disk may be rotated above the transmission hole.

[0032] Optionally, the material of the above-mentioned suction head may be silicone material or rubber material. The diameter of the suction head may be greater than or equal to the diameter of the sample carrier hole. The diameter of the sample carrier hole may be greater than or equal to the diameter of the transmission hole. Thereby, the sample can smoothly pass through the sample carrier hole and the transmission hole, reducing the collision of the sample with the sample carrier hole and the transmission hole. The number of sample carrier holes provided on the rotating carrier disk may be greater than or equal to the number of samples that can be stored in the sample storage tube. Thus, when the required sample is at the bottom of the sample storage tube, the rotating carrier disk can smoothly take out the sample.

[0033] Optionally, the above-mentioned power member may include a horizontal electric cylinder and a vertical electric cylinder. The at least one set of moving rods may include a horizontal moving rod and a vertical moving rod. The horizontal electric cylinder may be movably arranged on the horizontal moving rod. One end of the vertical moving rod may be fixed to the horizontal electric cylinder. The vertical electric cylinder may be movably arranged on the vertical moving rod. The rotating sample carrier disk and the negative pressure suction attachment may be arranged below the vertical electric cylinder. Further, the length range of the horizontal movement may cover the horizontal ranges of the refrigeration storage module 1 and the sample identification module 2. The length range of the vertical movement may cover the vertical ranges of the refrigeration storage module 1 and the sample identification module 2. Thus, the rotating carrier disk can move arbitrarily in both the vertical and horizontal directions, so that the sample at any position can be taken out.

[0034] Optionally, the at least one sample storage tube may be placed side by side in the refrigeration storage box. The opening of each sample storage tube may face the top of the refrigeration storage box. A opening and closing port may be provided at the top of the refrigeration storage box corresponding to the position in each sample storage tube. The opening and closing port may be an electromagnetic flip cover. The electromagnetic flip cover may be a protective cover that is opened or closed by electromagnetic force. When storing a sample in the sample storage tube, the opening and closing port corresponding to the sample storage tube may be opened.

[0035] In the process of adopting technical solutions to solve the above technical problems, there is often another technical problem as follows: After the sample is adsorbed by the adsorption head onto the sample bearing hole on the rotating carrier disk, when it is necessary to adsorb the next sample, the adsorbed sample needs to be rotated. During the rotation process, the sample falls off the adsorption head, and the bottom of the sample collides with the fixed limit disk. Moreover, during the rotation process, the bottom of the sample continuously rubs against the fixed limit disk. For samples with a glass shell, during the collision and rubbing between the bottom of the sample and the fixed limit disk, the sample shell is likely to break, resulting in damage to the sample. For the above technical problem two, the conventional solution is generally to: reduce the rotation speed of the rotating carrier disk, thereby reducing the force of collision and rubbing between the bottom of the sample and the fixed limit disk. However, the above conventional solution still has the following problems: When the rotating carrier disk rotates slowly, it is possible that the sample leaves the adsorption of the adsorption head but the bottom of the sample does not fully contact the fixed limit disk, resulting in the sample falling back into the sample storage tube from the transfer hole again, causing the failure of sample extraction. And when the rotating carrier disk rotates slowly, the process of sample extraction takes a long time, causing the temperature of the sample to change, resulting in damage to the sample.

[0036] Considering the problems of the above conventional solution, in the face of the above technical problem two: After the sample is adsorbed by the adsorption head onto the sample bearing hole on the rotating carrier disk, when it is necessary to adsorb the next sample, the adsorbed sample needs to be rotated. During the rotation process, the sample falls off the adsorption head, and the bottom of the sample collides with the fixed limit disk. Moreover, during the rotation process, the bottom of the sample continuously rubs against the fixed limit disk. For samples with a glass shell, during the collision and rubbing between the bottom of the sample and the fixed limit disk, the sample shell is likely to break, resulting in damage to the sample. Combining the technical status quo, the following solution can be decided to be adopted:

[0037] Optionally, the above rotating sample carrier disk may include a fixed limit disk and a rotating carrier disk. The above fixed limit disk may be provided with a transfer hole. The above rotating carrier disk may be provided with each sample bearing hole. The above negative pressure adsorbing member may include an adsorption power member and each adsorption head. The positions of the above each sample bearing hole may correspond to the positions of the above each adsorption head one by one. When the above rotating carrier disk rotates, the above each adsorption head rotates along with the above each sample bearing hole. The above rotating carrier disk may be rotatably arranged between the above fixed limit disk and each adsorption head. Any sample bearing hole in the above rotating carrier disk may communicate with the above transfer hole when rotating to a corresponding angle. When storing and retrieving samples, the above transfer hole may move above the corresponding sample storage tube. Any sample bearing hole in the above rotating carrier disk may rotate above the above transfer hole.

[0038] Optionally, the connecting shaft of the above-mentioned fixed limit disc can be fixedly connected to the lower part of the above-mentioned vertical electric cylinder. An external rotor motor can be arranged below the above-mentioned vertical electric cylinder. The connecting shaft of the above-mentioned fixed limit disc and the above-mentioned adsorption power component can be connected to the motor stator of the above-mentioned external rotor motor. The connecting shaft of the above-mentioned rotating bearing disc can be connected to the electronic rotor of the above-mentioned external rotor motor. The connecting shaft of the above-mentioned fixed limit disc and the connecting shaft of the above-mentioned rotating bearing disc are connected through a roller bearing.

[0039] Optionally, the above-mentioned adsorption power component can include a vacuum pump and an air path slip ring. The above-mentioned vacuum pump is fixedly connected to the stator end of the above-mentioned air path slip ring. Each negative pressure channel connected to each adsorption head is arranged on the connecting shaft of the above-mentioned rotating bearing disc. Each air path on the rotor end of the above-mentioned air path slip ring can be respectively communicated with each negative pressure channel. When the above-mentioned rotating bearing disc rotates, the rotor end of the above-mentioned air path slip ring can rotate accordingly to transmit gas signals to each negative pressure channel.

[0040] Optionally, a proportional valve, a vacuum generator and a check valve can be arranged at the part where each negative pressure channel is connected to the air path. The above-mentioned proportional valve and vacuum generator can be used to control the connection or disconnection between the negative pressure channel and the air path.

[0041] The above - mentioned related content about the rotating sample - carrying disk is an inventive point of an embodiment of the present disclosure, which solves Technical Problem 2: "After the sample is adsorbed onto the sample - carrying hole of the rotating carrying disk by the adsorption head, when it is necessary to adsorb the next sample, the adsorbed sample needs to be rotated. During the rotation process, the sample falls off the adsorption head, the bottom of the sample collides with the fixed limit disk, and during the rotation process, the bottom of the sample continuously rubs against the fixed limit disk. For samples with a glass shell, during the collision and rubbing of the bottom of the sample with the fixed limit disk, the sample shell is likely to break, resulting in sample damage." The further reasons for sample damage are as follows: After the sample is adsorbed onto the sample - carrying hole of the rotating carrying disk by the adsorption head, when it is necessary to adsorb the next sample, the adsorbed sample needs to be rotated. During the rotation process, the sample falls off the adsorption head, the bottom of the sample collides with the fixed limit disk, and during the rotation process, the bottom of the sample continuously rubs against the fixed limit disk. For samples with a glass shell, during the collision and rubbing of the bottom of the sample with the fixed limit disk, the sample shell is likely to break. If the above - mentioned factors are solved, the risk of sample damage can be reduced. To achieve this effect, in the sample transportation module of the sample refrigeration storage device of the present disclosure, corresponding adsorption heads are provided for each sample - carrying hole on the rotating carrying disk. Thus, after the rotating carrying disk rotates, the sample can still be adsorbed by the adsorption head, avoiding the bottom of the sample from colliding with the fixed limit disk and preventing the sample shell from breaking. And each air - path on the rotor end of the air - path slip ring is respectively connected to each negative - pressure channel, avoiding the entanglement of each air - path during rotation. And proportional valves, vacuum generators and check valves are provided at the connection part of each negative - pressure channel and the air - path, which can realize the independent control of each adsorption head, realize selective adsorption / release, accurately grasp the sample, and at the same time prevent gas back - flow when the pump stops.

[0042] Figure 3 is a flowchart of some embodiments of the sample access method according to the present disclosure. It shows the process 300 of some embodiments of the sample access method according to the present disclosure. The sample access method includes the following steps:

[0043] Step 301, in response to receiving a sample - taking instruction, according to the sample - taking instruction, determine the position information of the sample to be taken out corresponding to the sample - taking instruction and the information of the sample on the upper layer.

[0044] In some embodiments, in response to receiving a sample - taking instruction, the above - mentioned execution subject can, according to the above - mentioned sample - taking instruction, determine the position information of the sample to be taken out corresponding to the above - mentioned sample - taking instruction and the information of the sample on the upper layer. Among them, the above - mentioned sample - taking instruction can be information indicating the control module to take out the sample. The above - mentioned sample - taking instruction can include a sample identifier. In practice, the execution subject of the sample access method (such as Figure 1The sample refrigerated storage device shown can obtain the position information of the sample to be taken out corresponding to the above sample taking-out instruction and the information of the upper sample from the storage module. Among them, the above storage module can be a memory associated with the above control module. The above storage module stores a sample position information table. The above sample position information table includes the sample identification, sample name, sample weight information, and sample position information corresponding to each sample in the above refrigerated storage module. Specifically, the above execution entity can obtain the sample position information corresponding to the sample identification included in the above sample taking-out instruction from the storage module as the position information of the sample to be taken out. Then, the above execution entity can use the sample identifications corresponding to each sample that are in the same sample storage tube as the position information of the sample to be taken out and are above the sample to be taken out in the storage module as the information of the upper sample.

[0045] Optionally, before determining the position information of the sample to be taken out corresponding to the above sample taking-out instruction and the information of the upper sample according to the above sample taking-out instruction, the above execution entity can also perform the following steps:

[0046] First step, obtain the sample information of the sample collected by the above sample identification module. Among them, the above sample information can include the sample identification, sample name, and sample preparation time. The above sample name can be the name of the type of the sample. For example, the above sample name can be bovine cell tissue. The above sample preparation time can be the time point when the sample is prepared.

[0047] Second step, determine the sample position information corresponding to the sample according to the above sample information. In practice, the above execution entity can determine the sample position information corresponding to the sample according to the sample name, sample preparation time, and sample position information table included in the above sample information. As an example, the method for determining the sample position information corresponding to the sample can be: Samples with the same sample name can be stored in the same sample storage tube. And samples with similar sample preparation times are preferentially placed in the same sample storage tube. And the sample storage tube with a smaller number of samples is preferentially selected.

[0048] Third step, control the above sample transportation module to store the sample in the corresponding sample storage tube according to the above sample position information. In practice, the above execution entity can control the power component included in the above sample transportation module to move the rotating sample carrier to the position corresponding to the above sample position information. Then, the above execution entity can control the negative pressure adsorbing component included in the above sample transportation module to release the sample. Specifically, the above execution entity can control the negative pressure adsorbing component included in the above sample transportation module to release the upper sample according to a preset release adsorption force. Among them, the above preset release adsorption force can be the adsorption force when the above negative pressure adsorbing component releases the sample, which is preset.

[0049] Step 302: According to the position information of the sample to be taken out, control the sample transportation module to aspirate each upper sample corresponding to the upper sample information and the sample to be taken out.

[0050] In some embodiments, the above-mentioned execution entity can control the sample transportation module to aspirate each upper sample corresponding to the upper sample information and the sample to be taken out according to the position information of the sample to be taken out. In practice, the above-mentioned execution entity can control the power component included in the sample transportation module to move the rotating sample carrier to the position corresponding to the position information of the sample to be taken out. Then, the above-mentioned execution entity can control the negative pressure aspirator included in the sample transportation module to aspirate each upper sample corresponding to the upper sample information and the sample to be taken out in sequence. Specifically, the above-mentioned execution entity can control the negative pressure aspirator included in the sample transportation module to aspirate each upper sample corresponding to the upper sample information and the sample to be taken out in sequence according to a preset aspiration adsorption force and in a clockwise rotation at a preset rotating disk rotation speed. Among them, the above-mentioned preset aspiration adsorption force can be the adsorption force when the negative pressure aspirator aspirates the sample set in advance. The above-mentioned preset rotating disk rotation rate can be the self-rotation speed of the rotating sample carrier set in advance.

[0051] Step 303: Control the sample transportation module to sequentially put back the aspirated upper samples into the sample storage tubes.

[0052] In some embodiments, the above-mentioned execution entity can control the sample transportation module to sequentially put back the aspirated upper samples into the sample storage tubes. In practice, the above-mentioned execution entity can control the negative pressure aspirator included in the sample transportation module to sequentially release each upper sample corresponding to the upper sample information. Specifically, the above-mentioned execution entity can control the negative pressure aspirator included in the sample transportation module to sequentially release each upper sample corresponding to the upper sample information according to a preset release adsorption force and in a counterclockwise rotation at a preset rotating disk rotation speed.

[0053] Step 304: Control the sample transportation module to take out the aspirated sample to be taken out.

[0054] In some embodiments, the above-mentioned execution entity can control the sample transportation module to take out the aspirated sample to be taken out.

[0055] In some optional implementation manners of some embodiments, the above-mentioned execution entity can control the sample transportation module to take out the aspirated sample to be taken out through the following execution steps:

[0056] First step, control the above-mentioned sample transportation module to move the to-be-removed sample it has picked up into the above-mentioned sample carrier tray. In practice, the above-mentioned executing entity can determine the horizontal distance between the position information of the to-be-removed sample and the above-mentioned sample carrier tray as the horizontal movement length, and determine the vertical distance between the position information of the to-be-removed sample and the above-mentioned sample carrier tray as the vertical movement length. Then, the above-mentioned executing entity can move the above-mentioned sample transportation module to above the above-mentioned sample carrier tray according to the above-mentioned horizontal movement length and the above-mentioned vertical movement length. After that, the above-mentioned executing entity can control the negative pressure adsorbing component included in the above-mentioned sample transportation module to release the adsorption force according to a preset value to place the to-be-removed sample into the sample carrier tray.

[0057] Second step, control the above-mentioned moving mechanism to move the above-mentioned sample carrier tray to the above-mentioned access port. In practice, the above-mentioned executing entity can control the stepping motor included in the above-mentioned moving mechanism to drive the moving platform to move outwards to move the above-mentioned sample carrier tray to the above-mentioned access port.

[0058] In the process of adopting the technical solution to solve the above-mentioned technical problem, there is often another technical problem 3 as follows: Different samples have different weights. When using the same suction adsorption force to suck the sample or the same release adsorption force to release the sample, when the sample is heavier, the sample cannot be sucked, and when the sample is lighter, the sample cannot be released, resulting in the failure to complete the picking and placing of the sample. For the above-mentioned technical problem 3, the conventional solution is generally: using a larger suction adsorption force and a smaller release adsorption force. However, the above-mentioned conventional solution still has the following problems: Using a larger suction adsorption force for lighter samples will cause waste of resources, and using a smaller release adsorption force for heavier samples will cause the sample to slide down faster, resulting in a heavier collision between the sample and the samples in the sample storage tube, causing damage to the sample.

[0059] Considering the problems of the above-mentioned conventional solution, in the face of the above-mentioned technical problem 3: Different samples have different weights. When using the same suction adsorption force to suck the sample or the same release adsorption force to release the sample, when the sample is heavier, the sample cannot be sucked, and when the sample is lighter, the sample cannot be released, resulting in the failure to complete the picking and placing of the sample. Combining the technical status quo, the following solution can be decided:

[0060] In some optional implementation manners of some embodiments, according to the position information of the to-be-removed sample, the above-mentioned executing entity can control the sample transportation module to suck each of the above-sample corresponding to the above-sample information and the to-be-removed sample through the following steps:

[0061] First step, control the electromagnetic flip cover above the sample storage tube corresponding to the to-be-removed sample to open.

[0062] In the second step, control the power component included in the above sample transportation module to move the above rotating sample carrier disk to the position corresponding to the above position information of the sample to be taken out. In practice, the above execution entity can determine the horizontal coordinate difference between the coordinate corresponding to the above position information of the sample to be taken out and the coordinate of the above rotating sample carrier disk as the horizontal moving distance. And determine the vertical coordinate difference between the coordinate corresponding to the above position information of the sample to be taken out and the coordinate of the above rotating sample carrier disk as the vertical moving distance. Then, the above execution entity can control the above sample transportation module to move the rotating sample carrier disk above the sample to be taken out according to the above horizontal moving distance and the above vertical moving distance. After that, the above execution entity can control the negative pressure adsorbing component included in the above sample transportation module to place the sample to be taken out into the sample carrier disk according to the preset release adsorption force.

[0063] In the third step, according to the above sample taking-out instruction, determine the weight information of the sample to be taken out corresponding to the above sample taking-out instruction. In practice, the above execution entity can obtain the sample weight information corresponding to the sample identifier included in the above sample taking-out instruction from the above storage module as the weight information of the sample to be taken out.

[0064] In the fourth step, according to the above weight information of the sample to be taken out, generate the adsorption force information corresponding to the sample to be taken out. Among them, the above adsorption force information includes suction adsorption force, release adsorption force, and holding adsorption force. The above suction adsorption force can be the adsorption force when the above negative pressure adsorbing component sucks the sample. The above release adsorption force can be the adsorption force when the above negative pressure adsorbing component releases the sample. The above holding adsorption force can be the adsorption force when the above negative pressure adsorbing component continuously grabs the sample. It can be understood that the above holding adsorption force can be the adsorption force when the sample is held in the above rotating carrier disk. The above suction adsorption force is greater than the above holding adsorption force is greater than the above release adsorption force. In practice, the above execution entity can input the above weight information of the sample to be taken out into a pre-trained adsorption force information generation model to obtain the adsorption force information corresponding to the sample to be taken out. Among them, the above adsorption force information generation model can be a machine learning model with the weight information of the sample to be taken out as the input and the adsorption force information as the output. For example, the above adsorption force information generation model can be a random forest model.

[0065] In the fifth step, according to the above suction adsorption force, control the suction head at the corresponding transmission hole position in the above sample transportation module to perform a suction operation. In practice, the above execution entity can control the suction head at the corresponding transmission hole position in the above sample transportation module to suck the sample according to the above suction adsorption force.

[0066] In the sixth step, control the rotating carrier disk included in the above sample transportation module to rotate clockwise by a preset angle, and perform the above suction operation again. Among them, the above preset angle can be the included angle between two suction heads.

[0067] Step 7: According to the above-mentioned holding adsorption force, control the suction head that has sucked the sample to suck the sample according to the above-mentioned holding adsorption force.

[0068] In some optional implementation manners of some embodiments, the above-mentioned execution subject can control the sample transportation module to sequentially place the sucked upper samples back into the sample storage tubes through the following steps:

[0069] Step 1: Control the rotary carrier disk included in the above-mentioned sample transportation module to rotate counterclockwise by two preset angles.

[0070] Step 2: According to the above-mentioned release adsorption force, control the suction head at the corresponding transmission hole position in the above-mentioned sample transportation module to perform a release operation. In practice, the above-mentioned execution subject can control the suction head at the corresponding transmission hole position in the above-mentioned sample transportation module to release the sample according to the above-mentioned release adsorption force. Further, after completing a release operation, the above-mentioned execution subject can control the rotary carrier disk included in the above-mentioned sample transportation module to rotate counterclockwise by a preset angle and perform the above-mentioned release operation of the suction head again.

[0071] The above-mentioned related content about the dynamic adjustment of the negative pressure adsorption force is an inventive point of the embodiments of the present disclosure, which solves Technical Problem 3: "Different samples have different weights. When using the same suction adsorption force to suck the samples or the same release adsorption force to release the samples, when the sample is heavier, the sample cannot be sucked, and when the sample is lighter, the sample cannot be released, resulting in the failure of the sample to complete the picking and placing." The reasons for the failure of the sample to complete the picking and placing are as follows: Different samples have different weights. When using the same suction adsorption force to suck the samples or the same release adsorption force to release the samples, when the sample is heavier, the sample cannot be sucked, and when the sample is lighter, the sample cannot be released. If the above factors are solved, the sample can complete the picking and placing. To achieve this effect, the sample access method of the present disclosure can determine the corresponding suction adsorption force, release adsorption force, and holding adsorption force of the sample according to the weight of the sample. Different samples use different adsorption forces. And different adsorption forces are used when the sample is taken out, stored, and sucked for a long time, avoiding the situation where the sample cannot be sucked when the adsorption force is small when the sample is heavier, and avoiding the situation where the sample cannot be released when the adsorption force is large when the sample is lighter, so that the sample can be picked and placed smoothly. And adopting the corresponding suction adsorption force for the weight of the sample can reduce the waste caused by uniformly adopting a larger suction adsorption force, and adopting the corresponding release adsorption force for the weight of the sample can reduce the situation where the sample slides down faster due to a smaller release adsorption force, resulting in a heavier collision between the sample and the sample in the sample storage tube, reducing the probability of sample damage, and further improving the safety of the sample.

[0072] The above description is only some preferred embodiments of the present disclosure and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the embodiments of the present disclosure that have similar functions.

Claims

1. A sample access method, applied to a sample refrigeration storage device, characterized in that, The sample refrigeration storage device includes a control module, a refrigeration storage module, a sample identification module, and a sample transportation module. Among them, the refrigeration storage module includes a refrigeration storage box, a refrigeration compression mechanism, and at least one sample storage tube. The at least one sample storage tube is located in the refrigeration storage box, and the at least one sample storage tube is used for vertically stacking samples; the sample identification module is located on the side of the refrigeration storage module, and the sample identification module is used to read the electronic tag on the sample to obtain sample information; the sample transportation module is located above the refrigeration compression mechanism and the sample identification module. The sample transportation module includes a power component, a negative pressure suction component, a rotating sample carrier disk, and at least one set of moving rods. The power component is used to drive the rotating sample carrier disk to move on the at least one set of moving rods, and the negative pressure suction component is used to adsorb the sample into the rotating sample carrier disk. Each sample carrier hole is provided on the rotating sample carrier disk; the rotating sample carrier disk includes a fixed limiting disk and a rotating carrier disk. A transmission hole is provided on the fixed limiting disk, and each sample carrier hole is provided on the rotating carrier disk. The negative pressure suction component includes a suction power component and each suction head. The positions of each sample carrier hole correspond one by one to the positions of each suction head. When the rotating carrier disk rotates, each suction head rotates with each sample carrier hole. The rotating carrier disk is rotatably arranged between the fixed limiting disk and each suction head. Any sample carrier hole in the rotating carrier disk communicates with the transmission hole and the suction head when rotating to a corresponding angle. When storing or retrieving samples, the transmission hole moves above the corresponding sample storage tube, and any sample carrier hole in the rotating carrier disk rotates above the transmission hole; the suction power component includes a vacuum pump and an air path slip ring. The vacuum pump is fixedly connected to the stator end of the air path slip ring. Each negative pressure channel connected to each suction head is provided on the connecting shaft of the rotating carrier disk, and each air path on the rotor end of the air path slip ring communicates with each negative pressure channel; a proportional valve, a vacuum generator, and a one-way valve are provided at the part where each negative pressure channel is connected to the air path. The proportional valve and the vacuum generator are used to control the connection or disconnection of the negative pressure channel and the air path; the control module is communicatively connected to the refrigeration compression mechanism, the sample identification module, and the sample transportation module; and the method includes: responding to receiving a sample removal instruction, and determining the position information of the sample to be removed and the above sample information corresponding to the sample removal instruction according to the sample removal instruction; controlling the sample transportation module to suck each above sample and the sample to be removed corresponding to the above sample information according to the position information of the sample to be removed. Among them, controlling the sample transportation module to suck each above sample and the sample to be removed corresponding to the above sample information according to the position information of the sample to be removed includes: controlling the electromagnetic flip cover above the sample storage tube corresponding to the sample to be removed to open; Controlling the power component included in the sample transportation module to move the rotating sample carrier disk to the position corresponding to the position information of the sample to be taken out; According to the sample taking-out instruction, determining the weight information of the sample to be taken out corresponding to the sample taking-out instruction; Generating adsorption force information corresponding to the sample to be taken out according to the weight information of the sample to be taken out, wherein the adsorption force information includes suction adsorption force, release adsorption force and holding adsorption force; Controlling the suction head at the corresponding transfer hole position in the sample transportation module to perform a suction operation according to the suction adsorption force; Controlling the rotating carrier disk included in the sample transportation module to rotate clockwise by a preset angle, and performing the suction operation again, wherein the preset angle is the included angle between two suction heads; Controlling the suction head that has sucked the sample to suck the sample according to the holding adsorption force; Controlling the sample transportation module to sequentially place each upper sample sucked back into the sample storage tube, wherein controlling the sample transportation module to sequentially place each upper sample sucked back into the sample storage tube includes: Controlling the rotating carrier disk included in the sample transportation module to rotate counterclockwise by two preset angles; Controlling the suction head at the corresponding transfer hole position in the sample transportation module to perform a release operation according to the release adsorption force; Controlling the sample transportation module to take out the sample to be taken out that has been sucked.

2. The sample access method according to claim 1, characterized in that Before determining the position information of the sample to be taken out and the information of the upper sample corresponding to the sample taking-out instruction according to the sample taking-out instruction, the method further includes: Obtaining the sample information of the sample collected by the sample identification module; Determining the sample position information corresponding to the sample according to the sample information; Controlling the sample transportation module to store the sample in the corresponding sample storage tube according to the sample position information.

3. The sample access method according to claim 1, wherein The sample refrigeration storage device further includes a sample access module, the sample access module includes a sample access box, a sample carrier disk and a moving mechanism, the sample access box is provided with an access port and a sample transfer port, and controlling the sample transportation module to take out the sample to be taken out that has been sucked includes: Controlling the sample transportation module to move the sample to be taken out that has been sucked into the sample carrier disk; Controlling the moving mechanism to move the sample carrier disk to the access port.

4. The sample access method according to claim 1, characterized in that, The sample refrigeration storage device further includes a sample access module, the sample access module is located on the side of the refrigeration storage module, and the sample access module is also located below the sample transportation module; The sample access module includes a sample access box, a sample carrier disk and a moving mechanism, the sample access box is provided with an access port and a sample transfer port, the sample transfer port is located below the sample transportation module, the sample carrier disk and the moving mechanism are located inside the sample access box, and the moving mechanism is used to drive the sample carrier disk to move between below the sample transfer port and the access port.

5. The sample access method according to claim 1, wherein The material of the suction head is silica gel material or rubber material, and the diameter of the suction head is greater than or equal to the diameter of the sample carrier hole; The diameter of the sample carrier hole is greater than or equal to the diameter of the transfer hole; The number of sample loading holes provided in the rotating loading disk is greater than or equal to the number of samples that can be stored in the sample storage tube.

6. The sample access method according to claim 1, wherein The power member includes a horizontal electric cylinder and a vertical electric cylinder, and the at least one set of moving rods includes a horizontal moving rod and a vertical moving rod; The horizontal electric cylinder is movably arranged on the horizontal moving rod, one end of the vertical moving rod is fixed on the horizontal electric cylinder, and the vertical electric cylinder is movably arranged on the vertical moving rod; The rotating sample loading disk and the negative pressure suction member are arranged below the vertical electric cylinder.

7. The sample access method according to claim 1, wherein, The at least one sample storage tube is placed side by side in the refrigerated storage box; The opening of each sample storage tube faces the top of the refrigerated storage box, and an opening and closing port is provided at the top of the refrigerated storage box corresponding to the position in each sample storage tube. When storing samples in the sample storage tube, the corresponding opening and closing port of the sample storage tube is opened.

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