Automated storage device

Abstract

The invention relates to the technical field of biomedical treatment, and discloses automatic storage equipment. The automatic storage equipment comprises a first manipulator which is suitable for being movably located on one side of a storage rack and used for taking and placing sample boxes from the storage rack; the conveying chain is movably arranged on at least one side of the first manipulator and used for conveying the sample boxes taken and placed by the first manipulator; the tube picking mechanism is located on one side of the conveying chain and used for picking tubes of the sample boxes conveyed by the conveying chain; and the second manipulator is arranged on one side of the tube picking mechanism and is used for taking and placing the sample box from the tube picking mechanism and / or the conveying chain. The access efficiency of the automatic storage device is improved, the working time is shortened, and the use experience is improved.

Description

Technical Field

[0001] This application relates to the field of biomedical technology, such as an automated storage device. Background Technology

[0002] Currently, in the biomedical industry, automated ultra-low temperature equipment is widely used to store biological samples for cryopreservation. However, when biological samples are loaded and unloaded in batches, manual handling of the boxes is required, which results in a long waiting time.

[0003] In related technologies, the handling of biological samples in whole boxes involves retrieving a sample box from the storage area, passing it to a robotic arm in the buffer room, and then placing it in a location accessible to humans. If picking tubes from multiple boxes, one sample box needs to be retrieved, the tubes picked out, and the sample box returned before retrieving the next sample box for tube picking.

[0004] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art: In related technologies, the operation of biological samples, whether handled as whole boxes or by picking tubes, is time-consuming and inefficient.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0007] This disclosure provides an automated storage device to improve the efficiency of sample entry and exit and tube picking.

[0008] This disclosure provides an automated storage device, comprising: a first robotic arm adapted to be movably positioned on at least one side of a storage rack for picking up and placing sample boxes from the storage rack; a conveyor chain movably disposed on one side of the first robotic arm for conveying the sample boxes picked up and placed by the first robotic arm; a tube-picking mechanism located on one side of the conveyor chain for picking up tubes from the sample boxes conveyed by the conveyor chain; and a second robotic arm disposed on one side of the tube-picking mechanism for picking up and placing sample boxes from the tube-picking mechanism and / or the conveyor chain.

[0009] In some alternative embodiments, the conveyor chain extends and moves in a ring shape, with a first robotic arm located inside the conveyor chain, and the number of first robotic arms is one or more.

[0010] In some alternative embodiments, the tube-picking mechanism is configured with a tube-picking position, and a conveyor chain is movably located on one side of the tube-picking position. The sample box can move to the tube-picking position with the conveyor chain. The tube-picking mechanism includes a tube-picking robot, which corresponds to the tube-picking position and is used to pick up the target sample from the sample box.

[0011] In some alternative embodiments, the picking position includes an opening, and a conveyor chain is located below the opening. The conveyor chain includes: a motion track, on which a sample box is disposed and capable of moving with the motion track; and a lifting mechanism disposed below the motion track and / or the opening. When the target sample box moves to the picking position, the lifting mechanism is configured to abut against the target sample box and lift the target sample box to the opening so that the target sample box is within the picking range of the picking robot.

[0012] In some alternative embodiments, a conveying space is provided below the storage rack, and a conveyor chain is connected to the conveying space. A first robotic arm is connected to the conveyor chain through the conveying space and is used to pick up and put down sample boxes from the conveyor chain.

[0013] In some alternative embodiments, there are multiple storage shelves, with aisles formed between two adjacent storage shelves. A first robotic arm is located in the aisle and can retrieve sample boxes from two adjacent storage shelves. A tube-picking mechanism is located at an opening on one side of the aisle, and a second robotic arm is located on the side of the tube-picking mechanism away from the aisle.

[0014] In some alternative embodiments, there are multiple storage shelves, and aisles are formed between two adjacent storage shelves. A first robotic arm is located in the aisle, and at least one first robotic arm is provided in each aisle. A conveyor chain is movably arranged around the outside of one or more aisles, and the conveyor chain is connected to the first robotic arm in one or more aisles.

[0015] In some alternative embodiments, there are multiple pipe-picking mechanisms, with one conveyor chain corresponding to at least one pipe-picking mechanism and one second robot corresponding to multiple pipe-picking mechanisms.

[0016] In some alternative embodiments, the automated storage device further includes: a barcode reader located on one side of the tube-picking mechanism for reading information from the sample box; and / or a transfer mechanism located on the side of the second robotic arm away from the tube-picking mechanism for docking with and transferring the sample box with the second robotic arm.

[0017] In some alternative embodiments, the first robotic arm, the conveyor chain, the pipe-picking mechanism, and the second robotic arm are all located within the storage space. The automated storage device also includes a controller, which is electrically connected to the first robotic arm, the conveyor chain, the pipe-picking mechanism, and the second robotic arm. When the automated storage device is operating in tube-picking and retrieval mode, the controller is configured to control the second robotic arm to transfer the sample box to be received to the tube-picking mechanism, control the first robotic arm to transfer the target sample box from the storage rack to the conveyor belt, control the conveyor belt to transfer the target sample box to the tube-picking mechanism, control the tube-picking mechanism to pick up the target sample tube from the target sample box and place it into the sample box to be received, after the tube picking is completed, control the second robotic arm to transfer the sample box to be received out of the storage space, and control the conveyor belt and the first robotic arm to sequentially transfer the picked target sample box back to the storage rack; and / or, When the automated storage device is operating in full-box receiving mode, the controller is configured to control the second robotic arm to transfer the sample boxes to be received to the tube-picking mechanism, control the conveyor chain to transfer the sample boxes to be received to the target location, and control the first robotic arm to place the sample boxes to be received onto the storage rack; and / or, When the automated storage device is operating in full-box outbound mode, the controller is configured to control the first robotic arm to transfer the sample box to be outbound to the conveyor chain, and then move with the conveyor chain to the tube picking mechanism, and control the second robotic arm to transfer the sample box to be outbound to the outside of the storage space.

[0018] The automated storage device provided in this disclosure can achieve the following technical effects: In this embodiment, the first robotic arm can place sample boxes on a storage shelf or remove sample boxes from the storage shelf. A conveyor chain corresponds to the first robotic arm; the conveyor chain can receive sample boxes removed by the first robotic arm and can also transfer sample boxes to be stored to the first robotic arm, facilitating the first robotic arm's handling of sample boxes for inbound and outbound storage. A tube-picking mechanism can pick tubes from sample boxes transported by the conveyor chain. Thus, when tube picking is required, the conveyor chain can transport sample boxes to the tube-picking mechanism for tube picking. Simultaneously, the automated storage device also includes a second robotic arm. The second robotic arm can place sample boxes to be received into the tube-picking mechanism and / or the conveyor chain, and can also remove sample boxes to be received from the tube-picking mechanism. This allows for both inbound and outbound storage of whole boxes and, in conjunction with the tube-picking mechanism, tube picking to collect the selected sample tubes and then transferring them out of the storage area.

[0019] The automated storage device in this embodiment utilizes a conveyor chain, a first robotic arm, a second robotic arm, and a tube-picking mechanism to achieve both whole-box loading and unloading, as well as tube picking, all without manual operation, achieving full automation. Furthermore, the conveyor chain, with its considerable length, allows the first robotic arm to work continuously, enabling immediate retrieval and placement, further improving the efficiency of the automated storage device, reducing working time, and enhancing the user experience.

[0020] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0021] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic diagram of the structure of an automated storage device provided in an embodiment of this disclosure; Figure 2 This is a partial structural diagram of an automated storage device provided in an embodiment of this disclosure; Figure 3 This is a partial structural schematic diagram of another automated storage device provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of a transmission chain provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of a selection mechanism provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of a second robotic arm provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of the structure of a box-picking and placing robot provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of the structure of a first transfer mechanism provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of the structure of a second transfer mechanism provided in an embodiment of this disclosure; Figure 10 This is a schematic diagram of the structure of another automated storage device provided in an embodiment of this disclosure.

[0022] Figure label: 10. First robotic arm; 11. First running track; 12. First lifting track; 20. Conveyor chain; 21. Pallet; 30. Pipe picking mechanism; 31. Barcode reader; 32. Pipe picking position; 321. Slot; 33. Pipe picking robotic arm; 34. Second running track; 35. Third running track; 36. Second lifting track; 40. Second robotic arm; 401. Activity area; 141. Fourth running track; 42. Third lifting track; 50. Storage rack; 51. Aisle; 52. Sample box; 60. Transfer mechanism; 61. First transfer mechanism; 611. Transfer robotic arm; 612. First conveying mechanism; 613. Second conveying mechanism; 62. Second transfer mechanism; 621. Temporary storage rack; 622. Transfer track; 70. Box picking and placing robotic arm; 71. Base plate; 72. Shovel; 73. First drive mechanism; 74. Second drive mechanism. Detailed Implementation

[0023] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0024] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for describing embodiments of this disclosure herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0025] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0026] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0027] Unless otherwise stated, the term "multiple" means two or more.

[0028] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0030] For ease of description, the length, width, and height of the automated storage device are as follows: Figure 1 As shown.

[0031] Combination Figures 1 to 10 As shown, this embodiment of the present disclosure provides an automated storage device, which includes a first robotic arm 10, a conveyor chain 20, a tube-picking mechanism 30, and a second robotic arm 40. The first robotic arm 10 is adapted to be movably located on one side of a storage rack 50 for picking up and placing sample boxes from the storage rack 50. The conveyor chain 20 is movably located on at least one side of the first robotic arm 10 for conveying the sample boxes picked up and placed by the first robotic arm 10. The tube-picking mechanism 30 is located on one side of the conveyor chain 20 for picking up the sample boxes conveyed by the conveyor chain 20. The second robotic arm 40 is located on one side of the tube-picking mechanism 30 for picking up and placing sample boxes from the tube-picking mechanism 30 and / or the conveyor chain 20.

[0032] In this embodiment, the storage rack 50 is used to store sample boxes. The first robotic arm 10 can place sample boxes on the storage rack 50 or remove them from the storage rack 50. The conveyor chain 20 is located on one side of the first robotic arm 10, so the first robotic arm 10 can either remove sample boxes from the conveyor chain 20 and store them on the storage rack 50, or remove sample boxes from the first storage rack 50 and place them on the conveyor chain 20. The conveyor chain 20 can transfer sample boxes 52 between the tube picking mechanism 30, the second robotic arm 40, and the first robotic arm 10. When a whole sample box 52 needs to be taken out of storage, the first robotic arm 10 removes the sample box to be taken out from the storage rack and places it on the conveyor chain 20, and then moves with the conveyor chain 20 to the second robotic arm 40, which can transfer the sample box outside the storage area. When the entire sample box needs to be stored, the second robotic arm 40 places the sample box to be stored onto the conveyor chain 20. The conveyor chain 20 moves the sample box to the first robotic arm 10, which removes the sample box and transfers it to the storage rack 50, thus realizing the storage of the sample box 52.

[0033] When tube picking is required, the first robotic arm 10 removes the target sample box containing the target sample tube from the storage rack 50 and places it on the conveyor chain 20. The target sample box moves with the conveyor chain 20 to the tube picking mechanism 30. The second robotic arm 40 transfers the sample box to be received (e.g., an empty sample box) to the tube picking mechanism 30. The tube picking mechanism 30 then selects the target sample tube from the target sample box and places it into the sample box to be received. After the sample box to be received has been picked, the second robotic arm 40 can transfer it outside the storage area, completing the tube picking process. Since the sample box can be transported via the conveyor chain 20, the first robotic arm 10 only needs to transport the sample box 52 from the storage rack 50 and does not need to transport the sample box 52 to the tube picking mechanism 30. The first robotic arm 10 can work continuously, picking and placing samples as needed, further improving the efficiency of automated storage equipment, reducing working time, and improving the user experience. The second robotic arm only needs to transport the sample box between the outside of the storage area and the tube picking mechanism and does not need to perform tube picking. The tube-picking robot in the tube-picking mechanism can be solely responsible for picking tubes without requiring transfer. Each robot works independently and continuously without waiting for other robots to complete their processes, thus shortening working time, increasing efficiency, and improving the user experience. Specifically, the first robot 10, the second robot 40, and the tube-picking robot 33 are all configured to correspond to the conveyor chain 20. Multiple robots can work independently without waiting for other robots to complete their processes, further shortening sample storage and retrieval time and improving sample storage and retrieval efficiency.

[0034] Optionally, the conveyor chain 20 extends and moves in a ring shape, with the first robotic arm 10 located inside the conveyor chain 20, and the number of first robotic arms 10 is one or more. Optionally, the number of first robotic arms within a conveyor chain 20 is one or more, and the one or more first robotic arms are all correspondingly connected to the conveyor chain.

[0035] In this embodiment, the circular conveyor chain 20 can achieve cyclical movement, continuously supporting the sample box 52 storage and retrieval actions of the first robotic arm 10 without waiting for the conveyor chain 20 to reset. Furthermore, the conveyor chain 20 can pick up tubes at the corresponding points of the tube-picking mechanism 30, and can receive sample boxes at the corresponding points of the first robotic arm 10. This allows the conveyor chain 20 to perform multiple tasks simultaneously, shortening the tube picking and unloading time and further improving sample storage and retrieval efficiency. The number of first robotic arms 10 can be set to one or more. A single first robotic arm 10 is suitable for small to medium throughput sample processing scenarios. Multiple first robotic arms 10 can simultaneously connect to different workstations of the circular conveyor chain 20, simultaneously placing sample boxes onto the conveyor chain, or simultaneously removing sample boxes from the conveyor chain, or some first robotic arms placing sample boxes onto the conveyor chain while others remove them. This enables parallel storage and retrieval of sample boxes 52 in multiple compartments of the storage rack 50. The overall box entry and exit efficiency increases proportionally with the number of robotic arms, adapting to sample processing needs of different scales.

[0036] Optionally, the tube picking mechanism 30 is configured with a tube picking position 32, and the conveyor chain 20 is movably disposed on one side of the tube picking position 32. The sample box can move to the tube picking position 32 with the conveyor chain 20. The tube picking mechanism 30 includes a tube picking robot 33, which corresponds to the tube picking position 32 and is used to pick up the target sample from the sample box.

[0037] In this embodiment, the tube picking mechanism 30 is configured with a dedicated tube picking position 32. The tube picking position 32 makes the tube picking position 32 of the automatic storage device relatively fixed, which facilitates the tube picking mechanism 30 to pick tubes, facilitates the second robot arm 40 to cooperate in operating the sample box to be received, and facilitates the setting of other structures adapted to the tube picking process. In this way, when the conveyor chain 20 moves, the positions of the tube picking mechanism 30 and the second robot arm 40 relative to the conveyor chain 20 can be relatively fixed, which can improve the accuracy and stability of tube picking and reduce the cost of the automatic storage device.

[0038] Optionally, the picking position 32 includes an opening 321, and the conveyor chain 20 is movably located below the opening 321. The conveyor chain 20 includes a motion track and a lifting mechanism. The sample box is located on the motion track and can move with the motion track. The lifting mechanism is located on the motion track and / or below the opening 321. When the target sample box moves to the picking position 32, the lifting mechanism is configured to abut against the target sample box and lift the target sample box to the opening 321, so that the target sample box is within the picking range of the picking robot 33. Here, the target sample box refers to the sample box containing the target sample tube.

[0039] In this embodiment, the target sample box 52 is lifted to the opening 321 by a lifting mechanism, allowing it to enter the optimal picking range of the picking robot 33. This solves the problem of insufficient operating space for the picking robot 33 caused by the height limitation of the conveyor chain 20. Furthermore, the lifting mechanism lifts the target sample box to the opening 321 without it contacting the motion track. This prevents the target sample box from moving with the track and avoids the starting and stopping restrictions of the conveyor chain 20, ensuring the stability of the picking process and preventing damage to the sample tubes caused by sudden movement of the conveyor chain 20 during the picking process.

[0040] Optionally, the motion track includes a first track and a second track arranged side by side at intervals. The sample box 52 is movably disposed on the first track and the second track, and a portion of the sample box 52 corresponds to the gap between the first track and the second track, so that the lifting mechanism can abut against the sample box 52 to lift the sample box 52.

[0041] Optionally, a conveying space is provided below the storage rack 50, and the conveyor chain 20 is connected to the conveying space. The first robotic arm 10 is connected to the conveyor chain 20 through the conveying space and is used to pick up and put down sample boxes from the conveyor chain 20.

[0042] In this embodiment, the lower end of the storage rack is spaced apart from the ground to form a conveying space, which enables the first robotic arm 10 to connect with the conveyor chain 20, so that the first robotic arm 10 can pick up and put down the sample box 52 from the conveyor chain 20.

[0043] Optionally, the first robotic arm 10 and the conveyor chain 20 are located on opposite sides of the storage rack 50, or the conveyor chain 20 is located within the conveying space, that is, below the storage rack. Here, the first robotic arm and the conveyor chain 20 are arranged on opposite sides of the storage rack 50 to avoid interference between their operations. The conveyor chain 20 can also be directly located within the conveying space, further reducing the distance between the first robotic arm and the conveyor chain.

[0044] Optionally, there are multiple storage shelves 50, and a passageway 51 is formed between two adjacent storage shelves 50. The first robotic arm 10 is located in the passageway 51 and can retrieve sample boxes from the two adjacent storage shelves 50. The tube picking mechanism 30 is located at the opening on one side of the passageway 51, and the second robotic arm 40 is located on the side of the tube picking mechanism 30 away from the passageway 51.

[0045] In this embodiment, multiple storage racks 50 form a passageway 51. The first robotic arm 10 can simultaneously dock with two adjacent storage racks 50 within the passageway 51. Compared to the single storage rack 50 single robotic arm mode, the storage capacity is increased, and the robotic arm does not need to move across racks, shortening the average displacement path for storing and retrieving sample boxes 52. The pipe-picking mechanism 30 is located at an opening on one side of the passageway 51, and the second robotic arm 40 is located on the side of the pipe-picking mechanism 30 away from the passageway 51. In this way, the storage and retrieval operations within the passageway 51 are separated from the pipe-picking and transfer operations on the outside, reducing mutual interference between different stages. Thus, when multiple boxes are picked up simultaneously, interference between different devices can be avoided, shortening the turnaround time.

[0046] Optionally, the automated storage device further includes a fourth running track 141 and a third lifting track 42. A second robotic arm 40 is disposed on the third lifting track 42, which extends vertically. The second robotic arm 40 can move up and down with the third lifting track 42. The upper end and / or lower end of the third lifting track 42 are movably connected to the fourth running track 141. The fourth running track 141 extends along the width direction of the automated storage device so that the second robotic arm 40 can cooperate with the pipe-picking mechanism 30. When there are multiple pipe-picking mechanisms 30, the second robotic arm 40 can cooperate with multiple pipe-picking mechanisms 30.

[0047] Optionally, there are multiple storage shelves 50, and a passageway 51 is formed between two adjacent storage shelves 50. The first robotic arm 10 is located in the passageway 51, and at least one first robotic arm 10 is provided in each passageway 51. The conveyor chain 20 is movably arranged around the outside of one or more passageways 51, and the conveyor chain 20 is connected to the first robotic arm 10 in one or more passageways 51.

[0048] In this embodiment, multiple storage racks 50 form multiple aisles 51. Each aisle 51 is equipped with at least one first robotic arm 10. A conveyor chain 20 is arranged around the outside of the aisle 51 and connects all robotic arms, enabling parallel storage and retrieval of sample boxes 52 across multiple aisles 51, thus improving the efficiency of sample storage and retrieval. When one conveyor chain 20 is connected to the first robotic arms 10 of multiple aisles 51, the types and quantities of sample boxes 52 that the conveyor chain 20 can transport are increased. It can simultaneously handle the sample box 52 transport needs of robotic arms in multiple aisles 51, reducing the waiting time for sample boxes 52 to leave the warehouse and improving the efficiency of sample picking.

[0049] In addition, when the conveyor chain 20 is arranged around the outside of multiple tunnels 51 and connected to multiple first robotic arms 10 in multiple tunnels 51, the multiple first robotic arms 10 can simultaneously store sample boxes on the conveyor chain 20. This allows for the simultaneous retrieval and placement of sample boxes 52, achieving high-throughput sample retrieval and tube picking, and further improving the sample storage and retrieval efficiency.

[0050] Optionally, there may be multiple pipe-picking mechanisms 30, with one conveyor chain 20 corresponding to at least one pipe-picking mechanism 30, and one second robotic arm 40 corresponding to multiple pipe-picking mechanisms 30.

[0051] In this embodiment, one conveyor chain 20 corresponds to at least one tube-picking mechanism 30. The conveyor chain 20 can continuously transport sample boxes to one or more tube-picking mechanisms 30 for tube picking, thereby improving the efficiency of tube picking. A single second robotic arm 40 docks with multiple tube-picking mechanisms 30, which makes full use of the idle second robotic arm 40. Furthermore, one robotic arm can pick up and place sample boxes to be picked up from outside the storage area, which also facilitates the cooperation between the second robotic arm 40 and multiple tube-picking mechanisms 30.

[0052] Optionally, such as Figure 10 As shown, the activity area 401 of the second robotic arm 40 is located on the side of the tube-picking mechanism 30 away from the first robotic arm 10, and the first second robotic arm 40 can cooperate with multiple tube-picking mechanisms 30. Optionally, a conveyor chain 20 corresponds to two aisles 51 and is connected to the first robotic arm 10 in both aisles 51. The conveyor chain 20 connects the activity space of the first robotic arm 10 and the tube-picking position 32 of the tube-picking mechanism 30. At the same time, the second robotic arm 40 can cooperate with the tube-picking mechanism 30 to realize the entry and exit of the sample box 52.

[0053] Optionally, such as Figure 5 As shown, the automated storage device also includes a barcode reader 31, which is located on one side of the tube picking mechanism 30 and is used to read the information of the sample box 52.

[0054] In this embodiment, the barcode reader 31 is located on one side of the tube-picking mechanism 30. It reads the information of the corresponding sample box 52 before or after tube picking, or before the entire box is moved in or out of storage. This eliminates the need to specifically move the sample box 52 to the barcode reader, improving verification efficiency and thus sample storage and retrieval efficiency. Optionally, when tube picking is required, the conveyor chain moves the target sample box to the tube-picking position, and the barcode reader can obtain information about the target sample box or target sample tube, ensuring the accuracy of tube picking. It can also obtain information about the sample box to be received, ensuring the accuracy of sample storage and retrieval. Optionally, when the entire box is moved in or out of storage, the sample box first moves to the tube-picking mechanism and is read by the barcode reader, which can obtain the sample box information, ensuring the accuracy of sample box entry and exit information.

[0055] Optionally, the barcode reader 31 is located on one side of the tube picking position 32.

[0056] Optionally, the pipe-carrying mechanism 30 further includes a second running track 34 and a third running track 35, which intersect and extend. The third running track moves along the second running track 34. The pipe-carrying robot 33 is located on the third running track 35 and can move along the third running track 35. The pipe-carrying structure also includes a second lifting track 36. The second running track 34 extends along the length direction, the third running track 35 extends along the width direction, and the second lifting track 36 extends along the vertical direction. The pipe-carrying robot 33 can move up and down along the second lifting track 36. In this way, the pipe-carrying robot 33 can realize the movement of the pipe-carrying robot 33 in the X, Y, and Z axes through the second running track 34, the third running track 35, and the second lifting track 36.

[0057] Optionally, a tube picking mechanism 30 has one or more tube picking positions 32, so that when tube picking is required, one tube picking position 32 can hold the sample box to be picked up, and another tube picking position 32 can hold the sample box.

[0058] Optionally, the automated storage device also includes a transfer mechanism 60, which is located on the side of the second robotic arm 40 away from the tube-picking mechanism 30. The transfer mechanism 60 is used to dock with the second robotic arm 40 to transfer sample boxes of tubes to be collected.

[0059] In this embodiment, the transfer mechanism 60 is located on the side of the second robotic arm 40 away from the tube-picking mechanism 30. It can specifically handle the transfer of sample boxes to be collected from inside and outside the storage room, replacing the traditional manual or second robotic arm 40 mode that handles both inside and outside the storage room. In this way, the total time spent from picking the sample boxes to delivery outside the storage room is reduced, further improving the sample storage and retrieval efficiency.

[0060] Optionally, the transfer mechanism 60 includes a first transfer mechanism 61, which includes a transfer robot 611, a first conveying mechanism 612, and a second conveying mechanism 613. The transfer robot 611 is used to transfer the sample boxes to be received to the first conveying mechanism 612. The first conveying mechanism 612 conveys the sample boxes to be received to the second conveying mechanism 613. The second conveying mechanism 613 can transfer the sample boxes to be received to the second robot 40. In this way, the sample boxes to be received can be put into storage one by one to realize single box entry and exit.

[0061] Optionally, the first transfer mechanism 61 is provided with an inlet and an outlet, and the inlet and outlet are equipped with doors that can open or close the inlet and outlet. Sample boxes for tubes to be collected outside the storage space can enter the interior of the first transfer mechanism 61 through the inlet and outlet.

[0062] Optionally, the transfer mechanism 60 also includes a second transfer mechanism 62, which includes a temporary storage rack 621. The temporary storage rack 621 has multiple temporary storage stations, and each temporary storage station can stack multiple sample boxes 52 in the vertical direction. The temporary storage rack 621 can be connected to the second robotic arm 40, so that the automated storage equipment can realize the entry and exit of multiple boxes through the second transfer mechanism 62.

[0063] Optionally, the second transfer mechanism 62 further includes a transfer track 622, which connects the temporary storage rack 621 and the second robotic arm 40, so that the sample box 52 in the temporary storage rack 621 can be moved to the second robotic arm 40 via the transfer track 622, so that the second robotic arm 40 can retrieve the sample box 52.

[0064] Optionally, the first robotic arm 10, the conveyor chain 20, the tube-picking mechanism 30, and the second robotic arm 40 are all located within the storage space. The cryogenic storage device also includes a controller, which is electrically connected to the first robotic arm 10, the conveyor chain 20, the tube-picking mechanism 30, and the second robotic arm 40.

[0065] Optionally, the storage space is in a low-temperature environment.

[0066] Optionally, when the automated storage device is operating in tube-picking and outbound mode, the controller is configured to control the second robotic arm 40 to transfer the sample box to be received to the tube-picking mechanism 30, control the first robotic arm 10 to transfer the target sample box from the storage rack 50 to the conveyor chain 20, control the conveyor chain 20 to transfer the target sample box to the tube-picking mechanism 30, control the tube-picking mechanism 30 to pick up the target sample tube from the sample box and place it into the sample box to be received, and after the tube picking is completed, control the second robotic arm 40 to transfer the sample box to be received outside the storage space, and control the first robotic arm 10 to transfer the target sample box after tube picking back to the storage rack 50.

[0067] In this embodiment, when the automated storage device is operating in the tube picking and unloading mode, the second robotic arm 40 transfers the sample box to be received to the tube picking position 32 of the tube picking mechanism 30. The first robotic arm 10 removes the target sample box containing the target sample tube from the storage rack 50 and places it on the conveyor chain 20. Then, the target sample box moves with the conveyor chain 20 to the tube picking mechanism 30. The tube picking mechanism 30 can pick the target sample box at the tube picking position 32 and then select the target sample tube in the target sample box to be received.

[0068] Optionally, when the automated storage device is operating in full-box receiving mode, the controller is configured to control the second robotic arm 40 to transfer the sample box of tubes to be received to the tube picking mechanism 30, control the conveyor chain 20 to transfer the sample box of tubes to be received to the target position, and control the first robotic arm 10 to place the sample box of tubes to be received into the storage rack 50.

[0069] Optionally, when the automated storage device is operating in full-box outbound mode, the controller is configured to control the first robotic arm 10 to transfer the sample box to be outbound to the conveyor chain 20, and then move with the conveyor chain 20 to the tube picking mechanism 30, and control the second robotic arm 40 to transfer the sample box to the outside of the storage space. In this embodiment, the first robotic arm 10, the conveyor chain 20, the tube picking mechanism 30, and the second robotic arm 40 can also realize the entry and exit of whole boxes. The conveyor chain 20 can simultaneously transport multiple sample boxes 52 for entry and exit. Multiple first robotic arms 10 can be set for one conveyor chain 20, so that multiple first robotic arms 10 can simultaneously pick up and put sample boxes 52 onto the conveyor chain 20, thereby improving the entry and exit efficiency of sample boxes 52.

[0070] Optionally, the automatic storage device further includes a first running track 11 and a first lifting track 12. The extension direction of the first running track 11 is the same as the length direction of the storage rack 50. A first robotic arm 10 is disposed on the first lifting track 12 and can move up and down along the first lifting track 12. The first lifting track 12 is movably connected to the first running track 11. In this way, the first robotic arm 10 moves up and down along the first lifting mechanism and moves along the first running track 11 in the length direction. Thus, the first robotic arm 10 can move in the height and length directions of the storage rack 50 so that the first robotic arm 10 can obtain sample boxes at any position of the storage rack 50.

[0071] Optionally, the first running track 11 extends along the length of the tunnel 51.

[0072] Optionally, there are two first running tracks 11, which are respectively connected to the upper and lower ends of the first lifting track 12.

[0073] Optionally, the first robotic arm 10 and / or the second robotic arm 40 (collectively referred to as the box-picking robotic arm 70 for ease of description) include a base plate 71, a shovel 72, and a first drive mechanism 73. The shovel 72 is movably located on the base plate 71 and can extend or retract from the base plate 71. The first drive mechanism 73 is connected to the shovel 72 and can drive the shovel 72 to extend or retract from the base plate 71. Thus, when the shovel 72 extends from the base plate 71, it can insert into the bottom of the sample box 52, and then drive the sample box 52 to retract back to the base plate 71, thereby enabling the box-picking robotic arm 70 to solidly pick up the sample box 52.

[0074] Optionally, the picking and placing robot 70 also includes a frame and a second drive mechanism 74. The base plate 71 and the shovel 72 are both located on the frame. The second drive mechanism 74 is connected to the frame and can drive the frame to rotate around the circumference of the frame, so that the shovel 72 and the base plate 71 can rotate. In this way, the shovel 72 can change its position around the circumference to pick up the sample boxes 52 on both sides or around the circumference of the first robot 10.

[0075] Optionally, the frame can rotate 360° to increase the picking range of the first robotic arm 10.

[0076] Optionally, when the robotic arm 70 removes a box, the shovel 72 drives the sample box 52 to extend out of the base plate 71, so as to place the sample box 52 into the storage rack 50, the conveyor chain 20, or the tube picking mechanism 30, etc.

[0077] Optionally, the conveyor chain 20 is provided with a tray 21 for placing sample boxes 52.

[0078] Optionally, when the lifting mechanism comes into contact with the target sample box and lifts the target sample box to the opening 321, the lifting mechanism comes into contact with the tray 21, causing both the tray 21 and the sample box to rise to the opening 321.

[0079] Optionally, the conveyor chain 20 is a high-speed chain with multiple trays, and the first and second robotic arms can pick up and place sample boxes on any tray.

[0080] In some optional embodiments, the automated storage device is located inside the cold storage. The automated storage device includes one or more storage modules. Each storage module includes two first robotic arms, one second robotic arm, and a tube-picking mechanism. Each tube-picking mechanism includes two tube-picking positions. Multiple storage racks are spaced apart along their width to form two aisles. The two robotic arms are located in the two aisles respectively. A conveyor chain is located below the storage racks, extending in a ring and rotating clockwise. The conveyor chain has multiple trays. The two first robotic arms can remove sample boxes from any adjacent storage rack and place them on the trays of the conveyor chain. The conveyor chain can move the trays to the two tube-picking positions for tube picking. Simultaneously, the second robotic arm can interact with the outside of the cold storage, transferring sample boxes waiting to be stored or ready for tube picking from outside to the conveyor chain or tube-picking mechanism for sample storage. The second robotic arm can also transfer sample boxes from the conveyor chain or tube-picking mechanism out of the cold storage, achieving sample retrieval.

[0081] The automated storage device of this embodiment boasts high sample retrieval efficiency. During sample picking and storage, multiple sample boxes can be picked, retrieved, and transferred simultaneously, improving picking efficiency. Furthermore, the more samples picked, the more significant the efficiency improvement. In practical applications, compared to storage devices that rely on transfer, the picking time in this embodiment is reduced by 70%. Similarly, during integrated retrieval and storage, the automated storage device of this embodiment utilizes a second robotic arm to continuously place boxes without waiting, further improving retrieval and storage efficiency. Compared to traditional storage devices, the time for entire boxes to be retrieved and stored is reduced by 30%. Thus, the automated storage device of this application enables high-throughput sample retrieval, improving both work efficiency and quantity.

[0082] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An automated storage and retrieval device, characterized by, The application relates to an automatic storage device.

1. The automatic storage device comprises: a first mechanical arm adapted to move on one side of a storage rack and used for taking and placing sample boxes from the storage rack; a conveying chain movably arranged on at least one side of the first mechanical arm and used for conveying the sample boxes taken and placed by the first mechanical arm; a tube-picking mechanism arranged on one side of the conveying chain and used for picking tubes from the sample boxes conveyed by the conveying chain; a second mechanical arm arranged on one side of the tube-picking mechanism and used for taking and placing sample boxes from the tube-picking mechanism and / or the conveying chain.

2. The automatic storage device according to claim 1, wherein: the conveying chain extends in a ring shape and moves, the first mechanical arm is arranged on the inner side of the conveying chain, and the number of the first mechanical arms is one or more.

3. The automatic storage device according to claim 1, wherein: the tube-picking mechanism is configured with a tube-picking position, the conveying chain is movably arranged on one side of the tube-picking position, and the sample boxes can move to the tube-picking position along with the conveying chain; and the tube-picking mechanism comprises: a tube-picking mechanical arm corresponding to the tube-picking position and used for picking target samples from the sample boxes.

4. The automatic storage device according to claim 3, wherein: the tube-picking position comprises a through opening, the conveying chain is movably arranged below the through opening, the conveying chain comprises: a moving track, the sample boxes are arranged on the moving track and can move along with the moving track; a jacking mechanism arranged below the moving track and / or the through opening; wherein, when the target sample box moves to the tube-picking position, the jacking mechanism is configured to abut against the target sample box and jack up the target sample box to the through opening, so that the target sample box is located in the tube-picking range of the tube-picking mechanical arm.

5. The automatic storage device according to claim 1, wherein: a conveying space is arranged below the storage rack, the conveying chain is in communication with the conveying space, and the first mechanical arm is in communication with the conveying chain through the conveying space and is used for taking and placing sample boxes from the conveying chain.

6. The automatic storage device according to claim 1, wherein: the number of the storage racks is multiple, a lane is formed between two adjacent storage racks, the first mechanical arm is movably arranged in the lane and can obtain sample boxes from the two adjacent storage racks, the tube-picking mechanism is arranged at an opening on one side of the lane, and the second mechanical arm is arranged on the side of the tube-picking mechanism away from the lane.

7. The automatic storage device according to claim 1, wherein: the number of the storage racks is multiple, a lane is formed between two adjacent storage racks, and the first mechanical arm is movably arranged in each lane, and at least one first mechanical arm is arranged in each lane. wherein, the conveying chain is movably arranged on the outer side of one or more lanes, and the conveying chain is in communication with the first mechanical arms in the one or more lanes.

8. The automatic storage device according to claim 1, wherein:

9. The automated storage and retrieval device of claim 1, wherein, the number of the tube-picking mechanisms is multiple, one conveying chain corresponds to at least one tube-picking mechanism, and one second mechanical arm corresponds to multiple tube-picking mechanisms. The application further comprises: a code reader arranged on one side of the tube-picking mechanism and used for reading information of the sample boxes; and / or a transfer mechanism arranged on the side of the second mechanical arm away from the tube-picking mechanism and used for being connected with the second mechanical arm and transferring sample boxes with the second mechanical arm.

10. The automated storage and retrieval device of any one of claims 1 to 9, wherein, The first mechanical arm, the conveying chain, the tube-picking mechanism and the second mechanical arm are all arranged in a storage space, and the automatic storage device further comprises: The controller is electrically connected with the first robot, the conveying chain, the tube-picking mechanism and the second robot; In the case that the automated storage device operates the tube-picking outbound mode, the controller is configured to control the second robot to transfer the sample box to be collected to the tube-picking mechanism, control the first robot to transfer the target sample box of the storage rack to the conveying chain, control the conveying chain to transfer the target sample box to the tube-picking mechanism, control the tube-picking mechanism to pick the target sample tube in the target sample box to the sample box to be collected, after the tube-picking is completed, control the second robot to transfer the sample box to be collected to outside the storage space, and control the conveying chain and the first robot to sequentially transfer the target sample box after the tube-picking back to the storage rack; and / or, In the case that the automated storage device operates the whole-box inbound mode, the controller is configured to control the second robot to transfer the sample box to be stored to the tube-picking mechanism, control the conveying chain to transfer the sample box to be stored to a target position, and control the first robot to place the sample box to be stored to the storage rack; and / or, In the case that the automated storage device operates the whole-box outbound mode, the controller is configured to control the first robot to transfer the sample box to be stored to the conveying chain, then move with the conveying chain to the tube-picking mechanism, and control the second robot to transfer the sample box to be stored to outside the storage space.

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