Pipe picking equipment

Abstract

The invention relates to the technical field of biomedical treatment, in particular to tube picking equipment, and aims to solve the problem that existing tube picking equipment is single in function. Therefore, the tube picking equipment comprises a shell and a tube picking device installed in the shell, the tube picking device can pick the biological samples, an expansion opening is formed in the side wall of the shell, and the tube picking equipment can be connected with the biological sample storage equipment in a sealed mode through the expansion opening. The tube picking device can transfer biological samples between the tube picking equipment and the biological sample storage equipment, and the tube picking equipment can be externally connected with the biological sample storage equipment such as a tube picking barrel and a cryopreservation box by forming an expansion opening in the side wall of the tube picking equipment, so that the tube picking equipment has the functions of tube picking, caching and cryopreservation at the same time; different external biological sample storage devices can be replaced according to different use requirements, so that the tube picking device can be flexibly adapted to various storage devices, and the functional diversity of the tube picking device is increased.

Description

Technical Field

[0001] The present invention relates to the field of biomedical technology, and in particular provides a tube-lifting device. Background Art

[0002] In the biomedical field, sample storage equipment is used to store biological samples such as blood, vaccines, and bacterial and viral strains at low temperatures, keeping them in liquid nitrogen for long-term preservation. The equipment contains multiple sample boxes, each containing test tubes containing the samples to be stored.

[0003] Most current storage devices store and retrieve entire sample boxes. When individual test tubes need to be retrieved, the sample box containing the test tube is first removed from the device, and then the target test tube is selected through a tube picking device, and then the selected target test tube is transported out.

[0004] Existing tube picking equipment can only pick tubes from sample boxes. After the target test tubes are selected, the sample boxes need to be transported out immediately because the tube picking equipment has no caching and freezing functions.

[0005] In addition, when a large number of biological samples need to be taken out, the sample boxes can only be sent to the tube picking device one by one through an AGV cart or manually for selection. Since the tube picking device has no caching and freezing functions, the target test tubes can only be sent out one by one, and the selected target test tubes cannot be cached in the tube picking device and then taken out in whole boxes. Therefore, the tube picking work will consume a lot of labor and time costs, which makes the use of the tube picking device limited and the use function single, thereby reducing the working efficiency of the tube picking device.

[0006] Therefore, this field needs a new technical solution to solve the above problems. Summary of the Invention

[0007] The present invention aims to solve the above technical problem, that is, to solve the problem that the existing pipe lifting equipment has a single function.

[0008] In a first aspect, the present invention provides a tube picking device, comprising a shell and a tube picking device installed in the shell, wherein the tube picking device is capable of picking biological samples. An expansion port is provided on a side wall of the shell, and the tube picking device can be sealedly connected to a biological sample storage device through the expansion port. The tube picking device can transfer the biological sample between the tube picking device and the biological sample storage device.

[0009] When adopting the above technical solution, the present invention provides an expansion port on the side wall of the tube picking device, so that the tube picking device can be connected to external biological sample storage devices such as tube picking buckets and freezing boxes, so that the tube picking device has the functions of tube picking, caching and freezing at the same time. Different external storage devices can also be replaced according to different usage requirements, so that the tube picking device can be flexibly adapted to a variety of storage devices, thereby increasing the functional diversity of the tube picking device.

[0010] In a preferred technical solution of the above-mentioned pipe lifting device, the number of the expansion ports is two, and the two expansion ports are respectively arranged on two opposite side walls of the shell.

[0011] When adopting the above technical solution, the present invention increases the number of expansion ports by setting the number of expansion ports to two, so that the tube picking device can be connected to more biological sample storage devices, thereby increasing the functional diversity of the tube picking device.

[0012] In a preferred technical solution of the above-mentioned tube-picking device, the tube-picking device is detachably connected to the biological sample storage device, and the tube-picking device and the biological sample storage device are connected by foam sealing.

[0013] When adopting the above technical solution, the present invention detachably connects the tube picking device to the biological sample storage device, so that the tube picking device can be replaced with different external storage devices according to different usage requirements, thereby further improving the functional diversity of the tube picking device.

[0014] In a preferred technical solution of the above-mentioned tube picking device, the tube picking device includes a tube picking mechanism and a robotic arm. The shell is provided with an automatic docking port on a side wall adjacent to the expansion port. The tube picking device accesses the biological sample through the automatic docking port. The tube picking mechanism is arranged near the automatic docking port. The tube picking mechanism is capable of selecting the biological sample. The robotic arm is capable of freely moving between the two expansion ports to transfer the biological sample between the tube picking mechanism and the biological sample storage device.

[0015] When adopting the above technical solution, the present invention provides an automatic docking port on the shell, so that the AGV trolley can transfer biological samples between the automatic docking port and the tube picking device, and transfer the biological samples between the tube picking mechanism and the biological sample storage device through the robotic arm. The robotic arm is easy to install and has powerful functions, which improves the working efficiency of the tube picking device.

[0016] In the preferred technical solution of the above-mentioned tube picking device, the tube picking mechanism includes a tube picking module, a code scanning module and a transmission mechanism. The code scanning module can scan and confirm the biological sample, the tube picking module can select the biological sample, the transmission mechanism is arranged close to the automatic docking interface, the transmission mechanism can extend through the automatic docking interface to the outside of the shell to access the biological sample, and the robotic arm can transfer the biological sample between the transmission mechanism, the tube picking module and the code scanning module.

[0017] When the above technical solution is adopted, the present invention transports biological samples through a transmission mechanism, which has a simple structure, facilitates the transfer of biological samples, and improves the working efficiency of the tube picking device.

[0018] In the preferred technical solution of the above-mentioned tube picking device, the tube picking device also includes a cache shelf, and the shell is provided with a manual docking interface on the side wall opposite to the automatic docking interface. The tube picking device can also access the biological sample through the manual docking interface, and the cache shelf is arranged close to the manual docking interface. The robotic arm can transfer the biological sample between the transmission mechanism, the tube picking module, the code scanning module and the cache shelf; and / or the number of the transmission mechanisms is multiple, and the multiple transmission mechanisms are arranged at intervals along the length direction of the automatic docking interface.

[0019] When adopting the above technical solution, the present invention provides a cache shelf so that the tube picking device has a cache function, and can cache the selected biological samples on the cache shelf and then take them away in whole boxes, thereby improving transportation efficiency. By setting up multiple transmission mechanisms, the transportation efficiency of the tube picking device is further improved.

[0020] In the preferred technical solution of the above-mentioned pipe picking equipment, the transmission mechanism includes a driving mechanism, a fixed component and a mobile platform, the fixed component is fixedly connected to the shell, the driving mechanism is installed on the fixed component, the mobile platform is connected to the fixed component and can move along the X-axis relative to the fixed component, and the driving mechanism can drive the mobile platform to move along the X-axis relative to the fixed component so that the mobile platform extends out of the automatic docking port.

[0021] When the above technical solution is adopted, the present invention drives the mobile platform to move relative to the fixed component through the driving mechanism, has a simple structure, is easy to install and maintain, and improves the transportation efficiency of the pipe lifting equipment.

[0022] In the preferred technical solution of the above-mentioned pipe picking equipment, the driving mechanism includes a driving motor and a gear, the driving motor is installed on the fixed component, the gear is installed on the driving shaft of the driving motor, and the mobile platform is provided with a rack that cooperates with the gear, and the rack extends along the X-axis. The driving motor can drive the gear to rotate to drive the mobile platform to move relative to the fixed component.

[0023] When the above technical solution is adopted, the present invention drives the mobile platform to move relative to the fixed component by driving the gear to rotate through the driving motor, which has a simple structure and saves costs.

[0024] In the preferred technical solution of the above-mentioned pipe picking equipment, the movable platform includes a connecting part and a platform part, the connecting part is connected to the fixed member and can move relative to the fixed member along the X-axis, the rack is arranged on the connecting part, the platform part is connected to the connecting part and can move relative to the connecting part along the X-axis, the connecting part is provided with pulleys at both ends along the direction perpendicular to the automatic docking port, the pulley is provided with a belt, the bottom of the belt is connected to the fixed member, and the top of the belt is connected to the platform part, when the connecting part and the platform part move relative to the fixed member, the belt can rotate on the pulley, thereby driving the platform part to move relative to the connecting part.

[0025] When adopting the above technical solution, the present invention sets pulleys and belts on the connecting part, so that the platform part can move relative to the connecting part while moving relative to the fixed component, thereby increasing the movement of the platform part and improving the transportation efficiency of the pipe lifting equipment.

[0026] In the preferred technical solution of the above-mentioned pipe lifting equipment, the mechanical arm has a retractable shovel plate.

[0027] When the above technical solution is adopted, the present invention increases the transfer distance of the robotic arm and improves the transfer efficiency of the robotic arm by arranging a retractable shovel plate on the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0029] Figure 1 This is a schematic diagram of the structure of the pipe lifting device of the present invention Figure 1 ;

[0030] Figure 2 This is a schematic diagram of the structure of the pipe lifting device of the present invention Figure 2 ;

[0031] Figure 3 This is a schematic diagram of the structure of the pipe lifting device of the present invention Figure 3;

[0032] Figure 4 It is a structural schematic diagram of the transmission mechanism of the pipe lifting device of the present invention;

[0033] Figure 5 It is a structural exploded diagram of the transmission mechanism of the pipe lifting device of the present invention.

[0034] List of reference numerals:

[0035] 1. Housing; 11. Expansion port; 12. Automatic docking port; 13. Manual docking port;

[0036] 2. Pipe picking module;

[0037] 3. Scan code module;

[0038] 4. Transmission mechanism; 41. Driving mechanism; 42. Fixed component; 43. Moving platform; 44. Limiting chain; 45. Limiting plate;

[0039] 411, driving motor; 412, gear; 421, first slider; 431, connecting portion; 432, platform portion;

[0040] 4311, first slide rail; 4312, second slide rail; 4313, rack; 4314, pulley; 4315, belt; 4321, second slide block;

[0041] 5. Robotic arm;

[0042] 6. Cache shelves. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0044] It should be noted that, in the description of the present invention, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0045] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "installed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] Based on the problem of single function of existing tube picking devices pointed out in the background technology, the present invention provides a tube picking device, which aims to provide an expansion port on the side wall of the tube picking device so that the tube picking device can be connected to external biological sample storage devices such as tube picking buckets and freezing boxes, so that the tube picking device has the functions of tube picking, caching and freezing at the same time. Different external storage devices can also be replaced according to different usage requirements, so that the tube picking device can be flexibly adapted to a variety of storage devices, thereby increasing the functional diversity of the tube picking device.

[0047] Specifically, if Figures 1 to 3 As shown, the present invention provides a tube picking device, including a shell 1 and a tube picking device installed in the shell 1. The tube picking device can pick biological samples. An expansion port 11 is provided on the side wall of the shell 1. The tube picking device can be sealed and connected to a biological sample storage device through the expansion port 11. The tube picking device can transfer biological samples between the tube picking device and the biological sample storage device.

[0048] In the biomedical field, biological samples are separated in the laboratory and placed in multiple test tubes. The multiple test tubes are stored in sample boxes and then transported to tube picking equipment manually or by AGV carts for tube picking and classification. After the tube picking is completed, it is transported to storage equipment for storage. The storage equipment for biological samples includes tube picking buckets, freezing boxes, and freezing warehouses, etc. A large number of different types of biological samples are stored in the storage equipment. The biological sample in each test tube has a code for identification. When the experimenter needs a specific biological sample for an experiment, the experimenter uses an AGV cart or manually to take the whole box of biological samples out of the storage device and put it into the tube picking device for tube picking. After the tube picking is completed, the target biological sample will be transported to the laboratory, and the remaining biological samples will be transported back to the storage device.

[0049] Existing tube picking equipment only has the function of picking tubes, but no buffering and freezing functions. For example, when experimenters need a large number of biological samples, they can only use AGV carts or manual labor to send sample boxes to the tube picking equipment one by one for selection, and send out the selected target biological samples one by one. The selected target biological samples cannot be buffered in the tube picking equipment. For example, after the whole box of biological samples is selected in the tube picking equipment, the target biological samples will be transported to the laboratory, and the remaining biological samples will be transported back to the storage device. The experimenter still needs to use the biological samples in this sample box in the next stage of the experiment. Because the tube picking device does not have a cache function, when conducting the next stage of the experiment, the experimenter can only take out the sample box from the storage device and then pick the tube through the tube picking device. For example, when the storage device frequently takes in and out biological samples at a certain stage, a large amount of tube picking and retrieval work is required. The biological samples need to be frequently transferred between the storage device and the tube picking device, which will consume a lot of manpower and material costs. If the storage device and the tube picking device can be used in combination, the working efficiency of the tube picking device will be greatly improved. It can be seen that the existing tube picking device has too single function and cannot meet the various usage needs of technical personnel in this field.

[0050] For example, Figures 1 to 3 As shown, the shell 1 of the tube picking device of the present invention is in the shape of a rectangular parallelepiped and is placed in the vertical direction. An expansion port 11 is provided on the side wall of the tube picking device, and an opening corresponding to the expansion port 11 is also provided on the biological sample storage device. The tube picking device can be sealed and connected to the opening of the biological sample storage device through the expansion port 11. By providing the expansion port 11 on the side wall of the tube picking device, the tube picking device can be externally connected to biological sample storage devices such as a tube picking bucket and a freezing box, so that the tube picking device has the functions of tube picking, caching and freezing at the same time. Different external storage devices can also be replaced according to different usage requirements, so that the tube picking device can be flexibly adapted to a variety of storage devices, thereby increasing the functional diversity of the tube picking device.

[0051] It should be noted that the present invention does not limit the number of expansion ports 11. For example, a person skilled in the art can set 1, 2 or 3 expansion ports 11 on different side walls of the pipe-lifting device. Such adjustment and change of the specific number of expansion ports 11 does not deviate from the principle and scope of the present invention, and should be limited within the scope of protection of the present invention.

[0052] It should also be noted that a closing mechanism is provided on the opening of the storage device, which can close the storage device when the storage device is not in use, thereby preventing the storage device from being contaminated and temperature loss.

[0053] Preferably, if Figure 1 and Figure 2As shown, the number of the expansion openings 11 of the present invention is two, and the two expansion openings 11 are respectively arranged on two opposite side walls of the housing 1 .

[0054] For example, Figure 1 and Figure 2 As shown, an expansion port 11 is respectively provided on two opposite side walls of the housing 1 of the present invention. By increasing the number of the expansion ports 11 , the storage function of the pipe lifting device is further increased.

[0055] It should be noted that the present invention does not limit the connection method between the pipe-lifting device and the storage device. For example, those skilled in the art can glue, clamp or weld the pipe-lifting device and the storage device, etc., and can also use sealing rubber, glue or foaming agent and other materials to perform secondary connection and sealing after the pipe-lifting device and the storage device are connected. Such adjustments and changes to the specific connection method between the pipe-lifting device and the storage device do not deviate from the principle and scope of the present invention, and should be limited within the protection scope of the present invention.

[0056] Preferably, the tube picking device of the present invention is detachably connected to the biological sample storage device, and the tube picking device and the biological sample storage device are connected by foam sealing.

[0057] Exemplarily, the pipe lifting device of the present invention is connected to the storage device by a snap connection, and a secondary connection and sealing are performed at the connection point by foaming glue.

[0058] Preferably, if Figure 3 As shown, the tube picking device of the present invention includes a tube picking mechanism and a robotic arm 5. The housing 1 is provided with an automatic docking port 12 on a side wall adjacent to the expansion port 11. The tube picking device accesses biological samples through the automatic docking port 12. The tube picking mechanism is disposed near the automatic docking port 12 and is capable of selecting biological samples. The robotic arm 5 is capable of freely moving between the two expansion ports 11 to transfer biological samples between the tube picking mechanism and the biological sample storage device.

[0059] For example, Figure 3As shown, the two expansion ports 11 of the present invention are respectively arranged on the front and rear side walls of the shell 1, the automatic docking port 12 is arranged on the left side wall of the shell 1, the tube picking mechanism is arranged close to the left side wall of the shell 1, the robotic arm 5 is arranged in the middle position of the shell 1, and the bottom wall of the shell 1 is provided with a track extending in the front and rear directions, the track is arranged between the two expansion ports 11, the robotic arm 5 is installed on the track and can move freely between the two expansion ports 11, for example, the two expansion ports 11 of the tube picking device of the present invention, one is connected to the freezing box, and the other is connected to the cache box, wherein the temperature of the freezing box is maintained at about minus 80°C, and the temperature of the cache box is maintained at about minus 20°C. When the laboratory sends biological samples to the tube picking device in batches, the AGV trolley transports the biological samples to the automatic docking port 12 of the tube picking device in batches, and the robotic arm 5 transfers the biological samples to the tube picking mechanism, and the tube picking mechanism The biological samples are scanned and identified, and then classified and selected. The same type of biological samples are placed in the same sample box, and the robot arm 5 stores the selected sample boxes in the cache box. When all the batches of biological samples in the laboratory are picked and classified by the tube picking device, the robot arm 5 can transport the whole box of biological samples to the cryopreservation, thereby greatly improving the transportation efficiency of the biological samples. For example, the experimenter needs to use a batch of biological samples for experiments in the afternoon. The experimenter can transport the required biological sample boxes to the tube picking device in the morning. The tube picking device caches the several biological sample boxes in the cryopreservation box first, and then selects the target biological samples needed for the experiment from the several biological sample boxes according to computer instructions, and caches the selected target biological samples in the cache box. The experimenter can take away the required biological samples at one time during the afternoon working period, which greatly improves work efficiency.

[0060] When the tube picking device needs to be connected to other freezing equipment such as a tube picking bucket, one of the extension ports 11 of the tube picking device is disconnected and connected to the tube picking bucket. At this time, the tube picking device can directly pick tubes in the tube picking bucket.

[0061] In this way, the pipe picking device of the present invention has the functions of picking, caching and freezing at the same time, and can also replace different external storage devices according to the different usage needs of users, so that the pipe picking device can flexibly adapt to a variety of storage devices, increasing the functional diversity of the pipe picking device.

[0062] Preferably, if Figure 3 As shown, the tube picking mechanism of the present invention includes a tube picking module 2, a code scanning module 3 and a transmission mechanism 4. The code scanning module 3 can scan and confirm the biological sample, the tube picking module 2 can select the biological sample, and the transmission mechanism 4 is arranged near the automatic docking port 12. The transmission mechanism 4 can pass through the automatic docking port 12 and extend to the outside of the shell 1 to access the biological sample. The robotic arm 5 can transfer the biological sample between the transmission mechanism 4, the tube picking module 2 and the code scanning module 3.

[0063] For example, Figure 3 As shown, the automatic docking port 12 of the present invention is located at the lower part of the left side wall of the shell 1, the transmission mechanism 4 is arranged close to the automatic docking port 12, the code scanning module 3 is located above the transmission mechanism 4, and the tube picking module 2 is located above the code scanning module 3. The transmission mechanism 4 can be extended and retracted toward the automatic docking port 12. The specific tube picking process is: the AGV cart delivers the biological sample to the automatic docking port 12, the transmission mechanism 4 passes through the automatic docking port 12 and extends to the outside of the shell 1, the manipulator on the AGV cart places the biological sample on the transmission mechanism 4, the transmission mechanism 4 retracts back into the inside of the shell 1, and the robotic arm 5 transfers the biological sample to the code scanning module 3. After the code scanning and recognition are completed, the robotic arm 5 transfers the biological sample to the tube picking module 2 for tube picking.

[0064] Preferably, if Figure 3 As shown, the tube picking device of the present invention also includes a cache shelf 6. The shell 1 is provided with a manual docking port 13 on the side wall opposite to the automatic docking port 12. The tube picking device can also access biological samples through the manual docking port 13. The cache shelf 6 is arranged close to the manual docking port 13. The robotic arm 5 can transfer biological samples between the transmission mechanism 4, the tube picking module 2, the code scanning module 3 and the cache shelf 6.

[0065] For example, Figure 3 As shown, a manual docking port 13 is provided on the right side wall of the shell 1 of the present invention, and a cache shelf 6 is arranged near the manual docking port 13. The cache shelf 6 can cache biological samples. For example, the tube picking device places the biological samples selected in batches directly on the cache shelf 6 through the robotic arm 5, and the experimenter can take away multiple boxes of biological samples at one time through the manual docking port 13, or the tube picking device places the biological samples in the freezing box or the cache box on the cache shelf 6 through the robotic arm 5, and the experimenter can take away multiple boxes of biological samples at one time through the manual docking port 13. By setting the manual docking port 13 and the cache shelf 6, the tube picking device has two docking modes, manual and automatic, which increases the function of the tube picking device and improves the efficiency of the tube picking device.

[0066] It should be noted that the present invention does not limit the number of transmission mechanisms 4. For example, those skilled in the art may set the number of transmission mechanisms 4 to 1, 2, or 3, etc. Such adjustments and changes to the specific number of transmission mechanisms 4 do not deviate from the principles and scope of the present invention, and should be limited within the scope of protection of the present invention.

[0067] Preferably, if Figure 3 As shown, the number of the transmission mechanisms 4 of the present invention is multiple, and the multiple transmission mechanisms 4 are arranged at intervals along the length direction of the automatic docking port 12.

[0068] For example, Figure 3 As shown, the number of the transmission mechanisms 4 of the present invention is three, a horizontally arranged fixing plate is provided on the housing 1, and the three transmission mechanisms 4 are installed on the fixing plate at intervals along the left-right direction.

[0069] Preferably, if Figure 4 and Figure 5 As shown, the transmission mechanism 4 of the present invention includes a driving mechanism 41, a fixed component 42 and a mobile platform 43. The fixed component 42 is fixedly connected to the shell 1, the driving mechanism 41 is installed on the fixed component 42, the mobile platform 43 is connected to the fixed component 42 and can move relative to the fixed component 42 along the X-axis, and the driving mechanism 41 can drive the mobile platform 43 to move relative to the fixed component 42 along the X-axis so that the mobile platform 43 extends out of the automatic docking port 12.

[0070] For example, Figure 4 and Figure 5 As shown, the fixed component 42 of the present invention is fixedly mounted on the fixed plate, and the driving mechanism 41 is mounted on the fixed component 42, wherein the X-axis is the front-to-back direction, and the fixed component 42 is provided with two first sliders 421 spaced apart along the left-right direction, and the movable platform 43 is provided with two first slide rails 4311 opposite to the two first sliders 421, and the first slider 421 is located in the first slide rail 4311, and the first slide rail 4311 is arranged along the front-to-back direction. The driving mechanism 41 can drive the movable platform 43 to move relative to the fixed component 42, so that the first slide rail 4311 moves along the front-to-back direction, so that the movable platform 43 can extend and retract from the automatic docking port 12.

[0071] It should be noted that the present invention does not limit the connection method between the mobile platform 43 and the fixed component 42. For example, those skilled in the art can also respectively set relatively set slide rails and sliders on the fixed component 42 and the mobile platform 43, or respectively set relatively set slide grooves and ball bearings on the fixed component 42 and the mobile platform 43, etc. Such adjustments and changes to the specific connection method between the mobile platform 43 and the fixed component 42 do not deviate from the principles and scope of the present invention, and should be limited within the scope of protection of the present invention.

[0072] Preferably, if Figure 4 and Figure 5 As shown, the driving mechanism 41 of the present invention includes a driving motor 411 and a gear 412. The driving motor 411 is installed on the fixed component 42, and the gear 412 is installed on the driving shaft of the driving motor 411. The mobile platform 43 is provided with a rack 4313 that cooperates with the gear 412. The rack 4313 extends along the X-axis. The driving motor 411 can drive the gear 412 to rotate to drive the mobile platform 43 to move relative to the fixed component 42.

[0073] For example, Figure 4and Figure 5 As shown, the driving motor 411 of the present invention is installed on the fixed component 42 in the vertical direction, the gear 412 is installed on the driving shaft of the driving motor 411, and the bottom of the mobile platform 43 is provided with a rack 4313 arranged in the front-to-back direction and meshing with the gear 412. The driving motor 411 drives the gear 412 to rotate, thereby driving the rack 4313 and the mobile platform 43 to move in the front-to-back direction.

[0074] Preferably, if Figure 4 and Figure 5 As shown, the mobile platform 43 of the present invention includes a connecting portion 431 and a platform portion 432. The connecting portion 431 is connected to the fixed component 42 and can move relative to the fixed component 42 along the X-axis. The rack 4313 is arranged on the connecting portion 431. The platform portion 432 is connected to the connecting portion 431 and can move relative to the connecting portion 431 along the X-axis. The connecting portion 431 is provided with pulleys 4314 at both ends along the direction perpendicular to the automatic docking port 12. A belt 4315 is provided on the pulley 4314. The bottom of the belt 4315 is connected to the fixed component 42, and the top of the belt 4315 is connected to the platform portion 432. When the connecting portion 431 and the platform portion 432 move relative to the fixed component 42, the belt 4315 can rotate on the pulley 4314, thereby driving the platform portion 432 to move relative to the connecting portion 431.

[0075] For example, Figure 4 and Figure 5 As shown, the platform portion 432 of the present invention is located above the connecting portion 431, the connecting portion 431 is in the shape of a rectangular plate and is arranged in the front-to-back direction, the two first slide rails 4311 are respectively located at the left and right ends of the bottom of the connecting portion 431, the rack 4313 is located in the middle position of the bottom of the connecting portion 431, the platform portion 432 is in the shape of a square plate, and the bottom of the platform portion 432 is provided with two second sliders 4321 spaced apart along the left-right direction, the connecting portion 431 is provided with two second slide rails 4312 arranged opposite to the two second sliders 4321, the second slider 4321 is located in the second slide rail 4312, and the second slide rail 4312 is arranged in the front-to-back direction. That is, the first slide rail 4311 and the second slide rail 4312 are respectively arranged at the top and bottom of the left end and the top and bottom of the right end of the connecting part 431, and a pulley 4314 is provided at the front and rear ends of the connecting part 431. The belt 4315 is sleeved on the two pulleys 4314 and can rotate on the two pulleys 4314. The bottom of the belt 4315 is connected to the fixed component 42, and the top of the belt 4315 is connected to the platform part 432. When the transmission mechanism 4 is in the shell 1, the platform part 432 is located at the rear end of the connecting part 431. When the transmission mechanism 4 is outside the shell 1, the platform part 432 is located at the front end of the connecting part 431.

[0076] Through such an arrangement, when the transmission mechanism 4 is in the shell 1, when the driving motor 411 drives the gear 412 to rotate, the connecting part 431 moves forward. At the same time, since the belt 4315 is connected to the fixed component 42, the belt 4315 starts to rotate on the pulley 4314, and the belt 4315 can drive the platform part 432 to move forward relative to the connecting part 431, so that the platform part 432 can move from the rear end to the front end of the connecting part 431, thereby increasing the moving distance of the platform part 432, thereby improving the transportation efficiency of the transmission mechanism 4.

[0077] It should be noted that the present invention does not limit the connection method between the platform part 432 and the connecting part 431. For example, those skilled in the art may also respectively set relatively arranged slide rails and sliders on the platform part 432 and the connecting part 431, or respectively set relatively arranged slide grooves and ball bearings on the platform part 432 and the connecting part 431, etc. Such adjustments and changes to the specific connection method between the platform part 432 and the connecting part 431 do not deviate from the principle and scope of the present invention, and should be limited within the protection scope of the present invention.

[0078] It should also be noted that the transmission mechanism 4 of the present invention is also provided with a limiting device. For example, limiting plates 45 are respectively provided at the ends of the first slide rail 4311 and the second slide rail 4312 to prevent the first slider 421 and the second slider 4321 from sliding out of the first slide rail 4311 and the second slide rail 4312. A limiting chain 44 can also be provided on the transmission mechanism 4. The two ends of the limiting chain 44 are respectively connected to the fixed component 42 and the connecting part 431, thereby limiting the movement of the connecting part 431 and preventing the connecting part 431 from detaching from the fixed component 42.

[0079] It should also be noted that multiple rollers are provided in the first slider 421 and the second slider 4321 of the present invention, and the rollers can roll in the first slide rail 4311 and the second slide rail 4312, thereby reducing friction and improving the working efficiency of the transmission mechanism 4.

[0080] Preferably, the robot arm 5 of the present invention has a retractable shovel disc.

[0081] Exemplarily, the shovel of the robot arm 5 of the present invention is used to transfer biological sample boxes. The shovel is retractable, so that the biological samples can be flexibly transferred between the tube picking device and the biological sample storage device.

[0082] Those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims of this application, any of the claimed embodiments may be used in any combination.

[0083] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A pipe picking device, characterized in that: The invention comprises a shell (1) and a tube-picking device installed in the shell (1), wherein the tube-picking device is capable of selecting biological samples, an expansion port (11) is provided on the side wall of the shell (1), the tube-picking device is capable of being sealedly connected to a biological sample storage device through the expansion port (11), and the tube-picking device is capable of transferring the biological sample between the tube-picking device and the biological sample storage device.

2. The pipe lifting device according to claim 1, characterized in that: There are two expansion openings (11), and the two expansion openings (11) are respectively arranged on two opposite side walls of the housing (1).

3. The pipe lifting device according to claim 1, characterized in that: The tube picking device is detachably connected to the biological sample storage device, and the tube picking device is connected to the biological sample storage device through a foam seal.

4. The pipe lifting device according to claim 2, characterized in that: The tube picking device comprises a tube picking mechanism and a robotic arm (5); the housing (1) is provided with an automatic docking port (12) on a side wall adjacent to the expansion port (11); the tube picking device accesses the biological sample through the automatic docking port (12); the tube picking mechanism is arranged near the automatic docking port (12); the tube picking mechanism is capable of selecting the biological sample; and the robotic arm (5) is capable of freely moving between the two expansion ports (11) to transfer the biological sample between the tube picking mechanism and the biological sample storage device.

5. The pipe lifting device according to claim 4, characterized in that: The tube picking mechanism comprises a tube picking module (2), a code scanning module (3) and a transmission mechanism (4); the code scanning module (3) is capable of scanning and confirming the biological sample; the tube picking module (2) is capable of selecting the biological sample; the transmission mechanism (4) is arranged close to the automatic docking interface (12); the transmission mechanism (4) is capable of extending through the automatic docking interface (12) to the outside of the housing (1) to access the biological sample; and the robotic arm (5) is capable of transferring the biological sample between the transmission mechanism (4), the tube picking module (2) and the code scanning module (3).

6. The pipe lifting device according to claim 5, characterized in that: The tube picking device further comprises a buffer shelf (6); the housing (1) is provided with a manual docking interface (13) on a side wall opposite to the automatic docking interface (12); the tube picking device can also access the biological sample through the manual docking interface (13); the buffer shelf (6) is arranged close to the manual docking interface (13); the robotic arm (5) can transfer the biological sample between the transmission mechanism (4), the tube picking module (2), the code scanning module (3) and the buffer shelf (6); and / or There are multiple transmission mechanisms (4), and the multiple transmission mechanisms (4) are arranged at intervals along the length direction of the automatic docking port (12).

7. The pipe lifting device according to claim 5, characterized in that: The transmission mechanism (4) comprises a driving mechanism (41), a fixed component (42) and a movable platform (43); the fixed component (42) is fixedly connected to the housing (1); the driving mechanism (41) is mounted on the fixed component (42); the movable platform (43) is connected to the fixed component (42) and is movable relative to the fixed component (42) along an X-axis; the driving mechanism (41) is capable of driving the movable platform (43) to move relative to the fixed component (42) along an X-axis so that the movable platform (43) extends out of the automatic docking port (12).

8. The pipe lifting device according to claim 7, characterized in that: The driving mechanism (41) comprises a driving motor (411) and a gear (412), wherein the driving motor (411) is mounted on the fixed component (42), and the gear (412) is mounted on the driving shaft of the driving motor (411). A rack (4313) matching the gear (412) is provided on the mobile platform (43), and the rack (4313) extends along the X-axis. The driving motor (411) can drive the gear (412) to rotate, thereby driving the mobile platform (43) to move relative to the fixed component (42).

9. The pipe lifting device according to claim 8, characterized in that: The mobile platform (43) includes a connecting portion (431) and a platform portion (432), wherein the connecting portion (431) is connected to the fixed member (42) and can move relative to the fixed member (42) along the X-axis, the rack (4313) is provided on the connecting portion (431), the platform portion (432) is connected to the connecting portion (431) and can move relative to the connecting portion (431) along the X-axis, and pulleys (4314) are provided at both ends of the connecting portion (431) along the X-axis. A belt (4315) is provided on the pulley (4314), the bottom of the belt (4315) is connected to the fixed member (42), and the top of the belt (4315) is connected to the platform portion (432). When the connecting portion (431) and the platform portion (432) move relative to the fixed member (42), the belt (4315) can rotate on the pulley (4314), thereby driving the platform portion (432) to move relative to the connecting portion (431).

10. The pipe lifting device according to any one of claims 4 to 9, characterized in that: The mechanical arm (5) has a retractable shovel plate.

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