Low-temperature calibration device

Abstract

The invention discloses a low-temperature calibration device which comprises a cryopreservation frame installed in a refrigerated container and used for storing cryopreservation boxes, and further comprises a transfer unit used for carrying the cryopreservation boxes and placing the cryopreservation boxes to the corresponding positions on the cryopreservation frame; and the taking and placing unit comprises a taking and placing assembly used for grabbing the cryopreservation box and a calibration assembly installed on one side of the transfer unit and used for adjusting the taking and placing assembly to correspond to a taking and placing opening of the cryopreservation frame. A cryopreservation box is clamped and carried to one side of a cryopreservation frame through a taking and placing assembly through a transfer unit and is placed, then the transfer unit drives the cryopreservation box to move towards the cryopreservation frame through the taking and placing assembly, and when the cryopreservation box is about to enter the cryopreservation frame, a calibration assembly conducts fine adjustment on the taking and placing assembly; and the cryopreservation boxes clamped by the taking and placing assembly can be accurately fed into the corresponding cryopreservation grooves in the cryopreservation frame, collision between the taking and placing assembly and the cryopreservation frame is avoided, and the cryopreservation box lowering accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of biological sample storage technology, specifically to a low-temperature calibration device. Background Technology

[0002] With the rapid development of the biopharmaceutical industry, large-scale biobanks have emerged, and the storage capacity of biological samples is increasing. Generally, biological samples such as tissues and cells in clinical or laboratory settings are placed in cryopreservation boxes, which are then placed in biospecimen cryopreservation devices for storage. In order to improve the automation level of biospecimen cryopreservation devices, some automated biospecimen cryopreservation devices have been developed in related technologies. These biospecimen cryopreservation devices include a housing that defines a receiving cavity with an inlet and outlet. Cryopreservation racks are installed in the receiving cavity to store cryopreservation boxes. A movable robotic arm mechanism is installed in the receiving cavity to transfer cryopreservation boxes between the inlet / outlet and the cryopreservation racks. However, in the existing technology, during the process of picking up and placing cryopreservation boxes, there are certain installation deviations due to the installation of cryopreservation racks or robotic arms. This causes the robotic arm mechanism to be unable to accurately place the box into the corresponding cryopreservation tank, resulting in the robotic arm colliding with the cryopreservation rack when picking up or placing the box, causing damage to the samples inside the box. In order to eliminate this effect, the cryopreservation rack is now automatically calibrated to facilitate the robotic arm mechanism to properly pick up and place biological samples.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is the closest prior art. Summary of the Invention

[0004] The purpose of this invention is to provide a low-temperature calibration device to solve the problem mentioned in the background art that there are certain installation deviations in the cryopreservation rack and the robotic arm, which makes it impossible for the robotic arm to accurately place the cryopreservation box on the cryopreservation rack, or even cause an impact when placing the cryopreservation box on the cryopreservation rack.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The low-temperature calibration device includes a cryogenic rack installed inside a refrigerator for storing cryogenic containers, and further includes: The transfer unit is used to move the cryopreservation boxes and place them in the corresponding positions on the cryopreservation rack; The pick-and-place unit includes a pick-and-place component for gripping cryopreservation boxes, and a calibration component installed on one side of the transfer unit for adjusting the pick-and-place component to correspond with the pick-and-place opening of the cryopreservation rack.

[0006] Furthermore, the transfer unit includes: A transfer screw, installed inside the refrigerator, is used to transfer the cryopreservation box along the length of the cryopreservation rack; The upper and lower telescopic rods are installed at the lower part of the transfer screw and are used to transfer the cryopreservation box along the height direction of the cryopreservation rack; A sliding rail, installed at the lower end of the upper and lower telescopic rods, is used to push the cryopreservation box along the direction of the cryopreservation rack.

[0007] Furthermore, a drive motor is installed at the upper end of the push rail; The drive end of the drive motor is fixedly connected to a drive gear located inside the push rail; The pusher rail has a rack rod that is slidably inserted inside and meshes with the drive gear, which is used to push the calibration component.

[0008] Furthermore, the pick-and-place component includes: A swing plate is located at one end of the calibration component; A clamping arm, located at one end of the swing plate, is used to clamp and transfer the cryopreservation box; A calibration rod is fixedly connected to the lower end of the swing plate and is used to adjust the position of the cryopreservation box in conjunction with the cryopreservation rack. The calibration rod is L-shaped.

[0009] Furthermore, the calibration component includes: A fixing block is fixedly connected to one end of the rack rod; A slider is slidably inserted inside the fixed block for adjusting the level of the cryopreservation box. The fixed block has a first guide groove inside for guiding the movement of the fixed block. The second guide rod is fixedly connected to both ends of the slider. The fixed block has a first retraction groove inside and at both ends of the first guide groove for guiding the movement of the second guide rod. The second clamping spring has two sets, which are respectively sleeved on the outside of the second guide rod and located between the slider and the first guide groove, and are used to clamp the slider in the center.

[0010] Furthermore, the calibration component also includes: An adjusting rod is fixedly connected to one end of the swing plate located on the fixed block. One end of the adjusting rod is inserted into the slider. The slider is provided with a second guide groove for guiding the up and down movement of the adjusting rod. The first guide rod is fixedly connected to the upper and lower ends of the adjusting rod, and the slider is provided with a second retraction groove for guiding the movement of the first guide rod. The first clamping spring has two sets, which are respectively sleeved on the outside of the first guide rod and located between the adjusting rod and the second guide groove.

[0011] Furthermore, each cryopreservation compartment inside the cryopreservation rack is provided with a centering groove below it that is adapted to the calibration rod; The opening end of the converging groove is provided with first contraction surfaces at the top and bottom for guiding the calibration rod into the converging groove; The opening end of the converging groove is provided with a second contraction surface on the left and right sides for guiding the calibration rod into the converging groove.

[0012] Furthermore, a label is provided on one side of the opening of the focusing groove; A probe for identifying the label is installed at the upper middle of the fixed block.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a transfer unit to clamp and transport cryopreservation boxes to one side of a cryopreservation rack via a pick-and-place component. Subsequently, the transfer unit moves the cryopreservation boxes toward the cryopreservation rack via the pick-and-place component. Just before the cryopreservation boxes are about to enter the cryopreservation rack, a calibration component fine-tunes the pick-and-place component, ensuring that the cryopreservation boxes gripped by the pick-and-place component are accurately placed into the corresponding cryopreservation slots within the cryopreservation rack. This avoids collisions between the pick-and-place component and the cryopreservation rack, thus improving the accuracy of cryopreservation box placement. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the transfer unit structure of the present invention; Figure 3 This is a diagram showing the fit between the pick-and-place component and the calibration component of the present invention; Figure 4 This is a schematic diagram of the internal structure of the pusher rail of the present invention; Figure 5 This is a schematic diagram of the material feeding unit of the present invention; Figure 6 This is a diagram showing the fit between the calibration rod and the centering groove of this invention; Figure 7 For the present invention in Figure 6 Enlarged view of point A in the middle; Figure 8 This is a diagram showing the fit between the slider and the fixing block of the present invention; Figure 9 This is a diagram showing the fit between the second shrinkage surface and the first shrinkage surface of the present invention. Figure 10 This is a diagram showing the relationship between the swing plate and the adjusting rod in this invention.

[0015] Reference numerals: 100, refrigerator; 101, freezer rack; 1011, first shrinkable surface; 1012, second shrinkable surface; 1013, converging groove; 102, freezer box; 1, transfer unit; 11, transfer screw; 12, upper and lower telescopic rod; 13, push rail; 131, drive motor; 132, drive gear; 133, rack and pinion; 2, pick and place unit; 21, pick and place assembly; 211, swing plate; 2111, adjusting rod; 212, clamping arm; 213, calibration rod; 22, calibration assembly; 221, fixing block; 2211, first guide groove; 2212, first retraction groove; 222, probe; 223, slider; 2231, second retraction groove; 2232, second guide groove; 224, first guide rod; 225, first clamping spring; 226, second guide rod; 227, second clamping spring. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figure 1-10 The present invention provides a technical solution: The low-temperature calibration device includes a cryogenic rack 101 installed inside the refrigerator 100 for storing cryogenic boxes 102, and further includes: The transfer unit 1 is used to move the cryopreservation box 102 and place it in the corresponding position on the cryopreservation rack 101; The pick-and-place unit 2 includes a pick-and-place component 21 for gripping the cryopreservation box 102 and a calibration component 22 installed on one side of the transfer unit 1 for adjusting the pick-and-place component 21 to correspond with the pick-and-place port of the cryopreservation rack 101.

[0018] It should be noted that: the transfer unit 1 clamps the cryopreservation box 102 and moves it to one side of the cryopreservation rack 101 and places it there. Then, the transfer unit 1 moves the cryopreservation box 102 toward the cryopreservation rack 101 through the pick-and-place component 21. When the cryopreservation box 102 is about to enter the cryopreservation rack 101, the calibration component 22 makes a fine adjustment to the pick-and-place component 21 so that the cryopreservation box 102 clamped by the pick-and-place component 21 can be accurately delivered into the corresponding cryopreservation slot in the cryopreservation rack 101, avoiding collision between the pick-and-place component 21 and the cryopreservation rack 101 and improving the accuracy of the cryopreservation box 102 being placed.

[0019] As an improvement, such as Figure 1-2 As shown, the transfer unit 1 includes: A transfer screw 11 is installed inside the refrigerator 100 and is used to transfer the cryopreservation box 102 along the length of the cryopreservation rack 101. The upper and lower telescopic rods 12 are installed at the lower part of the transfer screw 11 and are used to transfer the cryopreservation box 102 along the height direction of the cryopreservation rack 101. The push rail 13 is installed at the lower end of the upper and lower telescopic rods 12 and is used to push the cryopreservation box 102 along the direction of the cryopreservation rack 101.

[0020] Furthermore, such as Figure 3-4 As shown, a drive motor 131 is installed at the upper end of the push rail 13; The drive end of the drive motor 131 and the inside of the push rail 13 are fixedly connected to the drive gear 132. The pusher rail 13 has a rack rod 133 that is slidably inserted inside and meshes with the drive gear 132, which is used to push the calibration component 22.

[0021] Furthermore, such as Figure 3 As shown, the pick-and-place component 21 includes: A swing plate 211 is disposed at one end of the calibration component 22; A clamping arm 212 is located at one end of the swing plate 211 and is used to clamp and transfer the cryopreservation box 102. The calibration rod 213 is fixedly connected to the lower end of the swing plate 211 and is used to cooperate with the cryopreservation rack 101 to adjust the position of the cryopreservation box 102. The calibration rod 213 is L-shaped.

[0022] As an improvement, the calibration component 22 includes: The fixing block 221 is fixedly connected to one end of the rack rod 133; The slider 223 is slidably inserted into the fixed block 221 and is used to adjust the level of the cryopreservation box 102. The fixed block 221 is provided with a first guide groove 2211 for guiding the movement of the fixed block 221. The second guide rod 226 is fixedly connected to both ends of the slider 223. The fixing block 221 has a first retraction groove 2212 inside and located at both ends of the first guide groove 2211 for guiding the movement of the second guide rod 226. The second clamping spring 227 has two sets, which are respectively sleeved on the outside of the second guide rod 226 and located between the slider 223 and the first guide groove 2211, and are used to clamp the slider 223 in a centered manner.

[0023] Furthermore, such as Figure 3 As shown, the calibration component 22 further includes: An adjusting rod 2111 is fixedly connected to one end of the swing plate 211 located on the fixed block 221. One end of the adjusting rod 2111 is inserted into the slider 223. The slider 223 is provided with a second guide groove 2232 for guiding the up and down movement of the adjusting rod 2111. The first guide rod 224 is fixedly connected to the upper and lower ends of the adjusting rod 2111, and the slider 223 is provided with a second retraction groove 2231 for guiding the movement of the first guide rod 224. The first tensioning spring 225 has two sets, which are respectively sleeved on the outside of the first guide rod 224 and located between the adjusting rod 2111 and the second guide groove 2232.

[0024] Furthermore, such as Figure 6-7 , Figure 9 As shown, each cryopreservation rack 101 has a centering groove 1013 below it that is adapted to the calibration rod 213; The opening end of the focusing groove 1013 is provided with first contraction surfaces 1011 at the top and bottom for guiding the calibration rod 213 into the focusing groove 1013; The opening end of the focusing groove 1013 is provided with a second contraction surface 1012 on the left and right sides for guiding the calibration rod 213 into the focusing groove 1013.

[0025] The opening side of the focusing groove 1013 is marked with a number; A probe 222 for identifying the label is installed at the middle of the upper end of the fixing block 221.

[0026] It should be added that, in this invention, when the clamping arm 212 is not clamping the cryopreservation box 102, the adjusting rod 2111 is located at the upper part of the second guide groove 2232. When the clamping arm 212 clamps the cryopreservation box 102, under the action of the gravity of the cryopreservation box 102, the adjusting rod 2111 moves down along the second guide groove 2232 to the middle position inside the second guide groove 2232. In addition, the refrigerator box 100 in this invention is divided into two areas: -20°C and -80°C. The transfer unit 1 picks up the -20°C and delivers it to the -80°C cryopreservation box 102 for storage.

[0027] It should be noted that: in the specific implementation process of this invention, such as Figure 1-5As shown, when it is necessary to pick up the cryovial 102 transferred from the refrigerator 100 at -20°C and place it on the cryovial rack 101, the cryovial 102 is picked up by the clamping arm 212. Then, the transfer screw 11 moves the picked-up cryovial 102 along the length of the cryovial rack 101, and the upper and lower telescopic rods 12 move the picked-up cryovial 102 along the height of the cryovial rack 101. During this process, the probe 222 continuously scans the cryovial compartment inside the cryovial rack 101. When the probe 222 scans the corresponding cryopreservation tank to be placed, the drive motor 131 is started. The drive motor 131 drives the rack 133 to move along the push rail 13 through the drive gear 132. The rack 133 drives the swing plate 211 to move towards the corresponding cryopreservation tank through the fixed block 221. The swing plate 211 drives the cryopreservation box 102 into the cryopreservation tank through the clamping arm 212 and then releases it, so that the cryopreservation box 102 is transferred into the cryopreservation tank, completing the transfer of the cryopreservation box 102. like Figure 5-10 As shown, before the swing plate 211 drives the cryopreservation box 102 into the cryopreservation tank via the clamping arm 212, the calibration rod 213 first enters the opening area of ​​the focusing groove 1013. If the swing plate 211 is slightly higher or lower than the cryopreservation tank before entering the tank, the calibration rod 213 will be centered and guided by the first contraction surface 1011 when it is inserted into the opening of the focusing groove 1013, so that the calibration rod 213 is adjusted to the height corresponding to the focusing groove 1013. During this process, the calibration rod 213 is adjusted upward or downward by the swing plate 211. The swing plate 211 drives the first guide rod 224 to move upward or downward along the second retraction groove 2231 via the adjusting rod 2111 to compensate for the lifting distance of the calibration rod 213, thereby avoiding the swing plate 211 from colliding with the upper or lower wall of the cryopreservation tank due to the height deviation with the cryopreservation tank. like Figure 5-10 As shown, if the swing plate 211 is offset to the left or right relative to the cryopreservation tank before entering the tank, the calibration rod 213 will be centered and guided by the second contraction surface 1012 when it is inserted into the opening of the focusing groove 1013. This will adjust the calibration rod 213 to be aligned with the focusing groove 1013. During this process, the calibration rod 213 is adjusted to the left or right by the swing plate 211. The swing plate 211, through the adjusting rod 2111 and the slider 223, drives the second guide rod 226 to move along the first retraction groove 2212. This compensates for the distance moved by the left and right adjustment of the calibration rod 213, thereby preventing the swing plate 211 from colliding with the side wall of the cryopreservation tank due to the left and right deviation from the tank, and thus preventing the sample from being damaged by collision.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A low-temperature calibration device, comprising a cryogenic rack (101) installed inside a refrigerator (100) for storing cryogenic boxes (102), characterized in that, Also includes: The transfer unit (1) is used to move the cryopreservation box (102) and place it in the corresponding position on the cryopreservation rack (101); The pick-and-place unit (2) includes a pick-and-place component (21) for gripping the cryopreservation box (102) and a calibration component (22) installed on one side of the transfer unit (1) for adjusting the pick-and-place component (21) to correspond with the pick-and-place port of the cryopreservation rack (101).

2. The low-temperature calibration device according to claim 1, characterized in that: The transfer unit (1) includes: A transfer screw (11) is installed inside the refrigerator (100) for transferring the cryopreservation box (102) along the length of the cryopreservation rack (101); The upper and lower telescopic rods (12) are installed at the lower part of the transfer screw (11) and are used to transfer the cryopreservation box (102) along the height direction of the cryopreservation rack (101); A sliding rail (13) is installed at the lower end of the upper and lower telescopic rods (12) for pushing the cryopreservation box (102) along the direction of the cryopreservation rack (101).

3. The low-temperature calibration device according to claim 2, characterized in that: A drive motor (131) is installed at the upper end of the push rail (13); The drive end of the drive motor (131) and inside the push rail (13) is fixedly connected to a drive gear (132); The push rail (13) has a rack rod (133) that meshes with the drive gear (132) inside, which is used to push the calibration component (22).

4. The low-temperature calibration device according to claim 3, characterized in that: The pick-and-place component (21) includes: A swing plate (211) is disposed at one end of the calibration component (22); A clamping arm (212) is provided at one end of the swing plate (211) for clamping and transferring the cryopreservation box (102); A calibration rod (213) is fixedly connected to the lower end of the swing plate (211) and is used to cooperate with the cryopreservation rack (101) to adjust the position of the cryopreservation box (102). The calibration rod (213) is L-shaped.

5. The low-temperature calibration device according to claim 4, characterized in that: The calibration component (22) includes: A fixing block (221) is fixedly connected to one end of the rack rod (133); The slider (223) is slidably inserted into the fixed block (221) for adjusting the level of the cryopreservation box (102). The fixed block (221) is provided with a first guide groove (2211) for guiding the movement of the fixed block (221). The second guide rod (226) is fixedly connected to both ends of the slider (223). The fixing block (221) is provided with a first retraction groove (2212) inside and at both ends of the first guide groove (2211) for guiding the movement of the second guide rod (226). The second clamping spring (227) has two sets, which are respectively sleeved on the outside of the second guide rod (226) and located between the slider (223) and the first guide groove (2211), and are used to clamp the slider (223) in the center.

6. The low-temperature calibration device according to claim 5, characterized in that: The calibration component (22) also includes: An adjusting rod (2111) is fixedly connected to one end of the swing plate (211) located on the fixed block (221). One end of the adjusting rod (2111) is inserted into the slider (223). The slider (223) is provided with a second guide groove (2232) for guiding the up and down movement of the adjusting rod (2111). The first guide rod (224) is fixedly connected to the upper and lower ends of the adjusting rod (2111), and the slider (223) is provided with a second retraction groove (2231) for guiding the movement of the first guide rod (224); The first tightening spring (225) has two sets, which are respectively sleeved on the outside of the first guide rod (224) and located between the adjusting rod (2111) and the second guide groove (2232).

7. The low-temperature calibration device according to claim 6, characterized in that: Each cryopreservation compartment inside the cryopreservation rack (101) is provided with a centering groove (1013) below it that is adapted to the calibration rod (213); The opening end of the concentrating groove (1013) is provided with first contraction surfaces (1011) for guiding the calibration rod (213) into the concentrating groove (1013); The opening end of the converging groove (1013) is provided with a second contraction surface (1012) on the left and right sides for guiding the calibration rod (213) into the converging groove (1013).

8. The low-temperature calibration device according to claim 7, characterized in that: The opening side of the central channel (1013) is marked with a number; A probe (222) for identifying the label is installed at the middle of the upper end of the fixing block (221).

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