Storage and taking system and picking and managing method thereof

Abstract

The invention discloses a storing and taking system and a picking and managing method thereof. The storing and taking system comprises an operation cabin and a storage cabin. A pipe grabbing and picking mechanism is arranged in the operation cabin; the tube grabbing and picking mechanism can move in the operation cabin, can be used for storing and taking a sample plate frame in the storage cabin, and can be used for carrying out tube picking, storing and transferring on a plurality of groups of samples. The device has the beneficial effects that X-axis movement, Y-axis movement and Z-axis movement can be conducted through the tube picking assembly and the grabbing assembly, a large number of sample tubes can be picked, stored and rotated through the tube picking assembly, and the tube picking efficiency can be greatly improved through the tube picking assembly; the grillages in the operation cabin can be stored and taken through the grabbing assembly, and the sample tubes can be stored at low temperature on a large scale through the storage cabin.

Description

Technical Field

[0001] This invention relates to the field of sample storage technology, and in particular to a storage and retrieval system and a tube-picking method thereof. Background Technology

[0002] In the field of biological samples, cryopreservation is used to store biological samples such as blood samples, vaccines, and bacterial and viral strains at low temperatures, so that the samples can be kept alive at low temperatures.

[0003] Current sample tube picking mechanisms can only pick one tube at a time, resulting in low efficiency and limited vertical movement. They cannot pick tubes directly inside the storage compartment, limiting their application scenarios and making them unsuitable for large-capacity tube picking operations. To address this, the inventors designed a storage and retrieval system. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above or prior art, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a storage and retrieval system that can pick up, store, and transfer samples in a storage chamber through a tube-picking mechanism. The tube-picking mechanism can pick up biological plates to realize sample storage and retrieval operations. The tube-picking mechanism can perform large-scale tube picking operations, and the storage chamber can store sample tubes at low temperatures.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a storage and retrieval system, which includes an operation compartment and a storage compartment; a tube-grabbing and picking mechanism is provided in the operation compartment; the tube-grabbing and picking mechanism can move in the operation compartment, can retrieve and store sample racks in the storage compartment, and can retrieve and transfer multiple sets of samples.

[0008] As a preferred embodiment of the storage and retrieval system of the present invention, the tube picking mechanism includes a tube picking component and a sliding shaft component; the tube picking component is disposed on the sliding shaft component and can move in the Y-axis direction on the sliding shaft component, the sliding shaft component can move in the X-axis direction within the operating chamber, and the tube picking component can lift and lower to pick up multiple sample tubes.

[0009] As a preferred embodiment of the storage and retrieval system of the present invention, the tube picking assembly includes a support member, a storage member, and a telescopic sleeve member; the support member is provided with a storage member, the storage member is connected to the telescopic sleeve member, the storage member can rotatably pick up multiple sets of sample tubes, the telescopic sleeve member can position and pick up the sample tubes, and the storage member is connected to an external vacuum component.

[0010] As a preferred embodiment of the storage and retrieval system of the present invention, the telescopic sleeve includes a straw, a limiting ring is provided on the straw, a first elastic element is connected to the limiting ring, and the first elastic element is sleeved on the outside of the straw. The other end of the first elastic element is connected to the sleeve, and the sleeve is located on the outside of the straw's suction end. The straw can vacuum-suction the sample tube into the storage component.

[0011] In a preferred embodiment of the storage system of the present invention, the storage component includes a turntable, a turntable driver, and an outer support shell; the turntable is disposed inside the outer support shell, the turntable driver passes through the outer support shell and is connected to the turntable, the turntable is provided with multiple sample tube storage channels, sample tubes can be stored in the sample tube storage channels, the turntable can rotate in the outer support shell, and the multiple sample tube storage channels can correspond to pipettes.

[0012] As a preferred embodiment of the storage and retrieval system of the present invention, a buffer is further provided on the support member, and the storage member and the telescopic sleeve member can be elastically raised and lowered through the buffer member; the buffer member can guide and limit the storage member and the telescopic sleeve member.

[0013] As a preferred embodiment of the access system of the present invention, the tube-picking assembly further includes a first lifting member, the support member is slidably connected to the first lifting member, and the first lifting member can drive the support member to move vertically up and down.

[0014] In a preferred embodiment of the storage and retrieval system of the present invention, the gripping and picking mechanism further includes a gripping component, which is disposed on the sliding shaft assembly and can slide on the sliding shaft assembly. The gripping component can grip and transport the plate frame.

[0015] In a preferred embodiment of the access system of the present invention, the gripping component includes a gripping part and a gripping lifting shaft; the gripping part is disposed on the gripping lifting shaft, the gripping part can move up and down on the gripping lifting shaft, and the gripping part can grip the plate frame.

[0016] In a preferred embodiment of the access system of the present invention, the gripping component includes a gripping driver, a gripping support frame, and a gripper engagement component; the gripping support frame is provided with a gripping driver, which can drive the gripper engagement component to open and close, and the gripper engagement component grips the plate.

[0017] As a preferred embodiment of the storage and retrieval system of the present invention, the operating chamber is provided with an extraction channel; the tube-grabbing mechanism can grab samples and pick tubes from the storage chamber through the extraction channel; a sealing cover is provided in the extraction channel, and the tube-grabbing mechanism can grab the sealing cover.

[0018] As a preferred embodiment of the storage and retrieval system of the present invention, the storage chamber includes a double-layer insulated shell, and an access channel is provided on the double-layer insulated shell. The access channel can be docked with the operation chamber. A sample storage tray is provided inside the double-layer insulated shell, and the sample storage tray can store sample tubes.

[0019] As a preferred embodiment of the storage and retrieval system of the present invention, a tube picking area is also provided inside the double-layer heat-insulating shell, in which sample tubes can be picked up, and the sample storage tray can rotate in the double-layer heat-insulating shell, thereby driving the sample tubes to connect with the storage and retrieval channel.

[0020] The beneficial effects of the storage and retrieval system of the present invention are as follows: The present invention can perform XYZ three-axis movement through the tube picking component and the gripping component. The tube picking component can pick, store and rotate a large number of sample tubes, and the tube picking component can greatly improve the efficiency of tube picking. The gripping component can perform storage and retrieval operations on the rack in the operating chamber, and the storage chamber can perform large-scale low-temperature storage of sample tubes.

[0021] The inventors also provide a tube-picking method that enables the rapid aspiration and placement of multiple test tubes, specifically including the following steps controlled by a program: D1: Conduct a stress test to determine the outcome; D2: The target or target group is absorbed. The tube picking component is equipped with multiple sample tube storage channels. Multiple targets enter the multiple sample tube storage channels one by one for temporary storage. D3: After the target or target group has been absorbed, the picking component will drive the target group to move and retrieve in a unified manner.

[0022] As a preferred embodiment of the tube picking method of the present invention, the tube picking assembly includes a suction head module, and multiple sample tube storage channels are arranged in a circumferential array on a turntable, which can rotate. In the above-mentioned step D2, step D21 is also included: the suction head module positions the coordinates to pick up the sample tube, and after each sample tube storage channel is picked up, the turntable drives the sample tube storage channel that has picked up the sample tube to rotate, so that the sample tube storage channel in the empty state corresponds to the position of the suction tube.

[0023] As a preferred embodiment of the tube-picking method of the present invention, a step D22 is further included between the above steps D2 and D3. In step D22, a corresponding number of test tubes are drawn and tested. If the number of test tubes drawn is incorrect, the process returns to step D2; if the number of test tubes drawn is correct, the process proceeds to step D3.

[0024] In a preferred embodiment of the tube picking method of the present invention, the operation chamber is provided with a program control unit, which includes a control module, a tube picking module, and a gripping module; the control module can control the tube picking module and the gripping module; the storage chamber is provided with a tube picking area, and the storage chamber is provided with a sample storage disk, which is provided with multiple sample tube positions; This also includes methods for handling test tubes in and out of the warehouse: S1: The control module issues a test tube storage command; S2: The control module calculates the test tube coordinates and operating environment; S3: The control module controls the gripping module to grip and transport the plate rack, and controls the tube picking module to store the sample tubes into the storage compartment; S4: Use the pipe picking module to pick pipes within the pipe picking area.

[0025] In a preferred embodiment of the tube-picking method of the present invention, step S3 includes: S31: The control module confirms the quantity received into the warehouse; S32: The control module calculates the test tube storage location and whether the test tube position and the rack position are valid; S33: The grabbing module grabs the warehouse rack and puts it into the operation cabin; S34: The tube picking module picks up and temporarily stores multiple test tubes on the plate rack; S35: The tube picking module places multiple aspirated test tubes into the sample storage disk or tube picking area according to the instructions of the control module.

[0026] As a preferred embodiment of the tube-picking method of the present invention, step S4 includes: S41: The sample tubes in the sample tube picking area are selected and placed into the sample tube positions on the sample storage tray by the tube picking module; S42: Using the tube picking module, the sample tubes on the sample storage disk are picked up and placed on the tray in the tube picking area by the instructions of the control module. S43: According to the instructions of the control module, the sample picking module performs cyclic picking and storage operations on the sample storage disk and the sample picking area.

[0027] The beneficial effects of the tube picking method of the present invention are: this method can quickly draw and place multiple test tubes, thereby quickly realizing the tube picking operation, and quickly realizing the retrieval and storage of test tubes, which greatly improves the tube picking efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 A three-dimensional schematic diagram of the control room for the access system.

[0029] Figure 2 This is a schematic diagram of the control room of the access system from another perspective.

[0030] Figure 3 for Figure 2 Enlarged view of F1 in the central access system.

[0031] Figure 4 A three-dimensional schematic diagram of the pipe-picking component of the access system.

[0032] Figure 5 This is a three-dimensional schematic diagram of the internal structure of the pipe-picking component of the access system.

[0033] Figure 6 for Figure 5 Enlarged view of F2 in the central access system.

[0034] Figure 7 This is a three-dimensional schematic diagram of the storage components of the access system.

[0035] Figure 8 This is a three-dimensional schematic diagram of the pipe-picking component of the access system from another perspective.

[0036] Figure 9 for Figure 8 A schematic diagram of the F3 section of the central access system.

[0037] Figure 10 This is a three-dimensional schematic diagram of the storage compartment of the access system.

[0038] Figure 11 A top view of the storage compartment of the access system.

[0039] Figure 12 Front view of the storage compartment of the access system.

[0040] Figure 13 for Figure 12 A cross-sectional view of the central access system at point AA.

[0041] Figure 14 This is a schematic diagram illustrating the method of drawing and placing test tubes using the tube-picking technique.

[0042] Figure 15 This diagram illustrates the pipette tip and test tube placement procedures for the pipette tip method. Figure 16 This is a schematic diagram illustrating the process of putting test tubes into and taking them out of the warehouse using the tube-picking method.

[0043] Reference numerals: 1. Operating compartment; 2. Storage compartment; 31. Tube picking assembly; 32. Sliding shaft assembly; 311. Support component; 312. Storage component; 313. Telescopic sleeve component; 313. Support component; 312. Telescopic sleeve component; 313. Suction tube; 3131. Limiting ring; 3132. First elastic component; 3133. Sleeve; 3134. Turntable; 3121. Turntable driver; 3122. Outer support shell; 3123. Sample tube storage channel; 3124. Buffer component; 314. First lifting component; 315. Gripping assembly; 33. Gripping component; 331. Gripping lifting shaft; 332. Gripping driver; 3311. Gripping support frame; 3312. Gripper mating component; 3313. Double-layer insulated shell; 21. Storage and retrieval channel; 22. Sample storage tray; 23. Tube picking area; 24. Detailed Implementation

[0044] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0046] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0047] Example 1 Reference Figures 1-3 This is the first embodiment of the present invention. This embodiment provides a storage and retrieval system, which includes an operation chamber 1 and a storage chamber 2. By providing a tube-grabbing and picking mechanism 3 in the operation chamber 1, the system can grasp the plates and shelves in the storage chamber 2 and the plate racks in the operation chamber 1, and can select, store and transfer sample tubes in the operation chamber 1 and the storage chamber 2. The tube-grabbing and picking mechanism 3 can move in the XYZ axis direction, which can be applied to more application scenarios and can quickly realize the sample grasping, transfer and tube picking work.

[0048] Specifically, it includes an operation cabin 1 and a storage cabin 2; the operation cabin 1 is equipped with a tube-grabbing mechanism 3; the tube-grabbing mechanism 3 can move within the operation cabin 1, and can retrieve and store sample trays in the storage cabin 2; the tube-grabbing mechanism 3 can retrieve, store, and transfer multiple sets of samples.

[0049] In summary, this invention enables large-scale low-temperature storage of sample tubes through the storage chamber 2, and the tube-grabbing mechanism 3 can grasp, transport, and store the plates and racks in the storage chamber 2 and the operation chamber 1. The tube-grabbing mechanism 3 can also pick up sample tubes, temporarily store multiple sets of sample tubes, and transport them. This device can quickly reach the target position by moving the tube-grabbing mechanism 3 along the XYZ axes, thereby performing storage, retrieval, picking, and transport operations on the sample tubes and plates and racks, which greatly improves storage efficiency.

[0050] Example 2 Reference Figures 1-13 This is the second embodiment of the present invention. In the previous embodiment, the storage and retrieval system includes an operation chamber 1 and a storage chamber 2. By providing a tube-grabbing and picking mechanism 3 in the operation chamber 1, the system can grab the plates and shelves in the storage chamber 2 and the plates and shelves in the operation chamber 1, and can select, store and transfer the sample tubes in the operation chamber 1 and the storage chamber 2. The tube-grabbing and picking mechanism 3 can move in the XYZ axis direction, which can be applied to more application scenarios and can quickly realize the sample grabbing, transfer and picking work.

[0051] Specifically, it includes an operation cabin 1 and a storage cabin 2; the operation cabin 1 is equipped with a tube-grabbing mechanism 3; the tube-grabbing mechanism 3 can move within the operation cabin 1, and can retrieve and store sample trays in the storage cabin 2; the tube-grabbing mechanism 3 can retrieve, store, and transfer multiple sets of samples.

[0052] Furthermore, the tube-grabbing mechanism 3 includes a tube-grabbing assembly 31 and a sliding shaft assembly 32; the tube-grabbing assembly 31 is mounted on the sliding shaft assembly 32, and the tube-grabbing assembly 31 can move in the Y-axis direction on the sliding shaft assembly 32, while the sliding shaft assembly 32 can move in the X-axis direction within the operating chamber 1. The tube-grabbing assembly 31 can lift and lower to pick up multiple sample tubes.

[0053] Preferably, the sliding shaft assembly 32 can move in the X-axis direction within the operating chamber 1, and the pipe picking assembly 31 and the gripping assembly 33 can slide in the Y-axis direction on the sliding shaft assembly 32.

[0054] Preferably, the tube picking assembly 31 and the gripping assembly 33 can also be raised and lowered in the Z-axis direction, so that they can be moved into the storage compartment 2 to grip the plate rack and pick up the sample tubes.

[0055] Furthermore, the tube picking assembly 31 includes a support 311, a storage component 312, and a telescopic sleeve 313; the support 311 is provided with the storage component 312, which is connected to the telescopic sleeve 313. The storage component 312 can rotatably pick up multiple sets of sample tubes, and the telescopic sleeve 313 can position and pick up the sample tubes. The storage component 312 is connected to an external vacuum component.

[0056] Preferably, an external vacuum component can continuously maintain a vacuum negative pressure inside the storage component 312, which can ensure that the sample tube will not fall off during the aspiration process.

[0057] Preferably, the storage component 312 and the telescopic sleeve 313 can be supported by the support member 311. The telescopic sleeve 313 is located below the storage component 312 and is connected to the storage component 312.

[0058] Preferably, the sample tube can be vacuum-absorbed by the telescopic sleeve 313; the vacuum-absorbed sample tube can be temporarily stored inside the storage component 312, and the storage component 312 can temporarily store multiple sets of sample tubes.

[0059] Preferably, the telescopic sleeve 313 allows for the aspiration of only the target sample tube during the aspiration process, thus avoiding accidental aspiration.

[0060] Furthermore, the telescopic sleeve component 313 includes a straw 3131, a limiting ring 3132 is provided on the straw 3131, a first elastic member 3133 is connected to the limiting ring 3132, and the first elastic member 3133 is sleeved on the outside of the straw 3131. The other end of the first elastic member 3133 is connected to the sleeve 3134, which is located on the outside of the suction end of the straw 3131. The straw 3131 can vacuum suck the sample tube into the storage component 312.

[0061] Preferably, the sleeve 3134 can resist the sample tubes around the target object through the first elastic member 3133, thereby allowing the sleeve 3134 to elastically displace and ensuring that the surrounding sample tubes are not sucked up by negative pressure.

[0062] Preferably, the first elastic element 3133 is a spring, and the limiting ring 3132 is fixedly disposed on the outside of the straw 3131. The two ends of the first elastic element 3133 are fixedly connected to the limiting ring 3132 and the sleeve 3134 respectively, and the sleeve 3134 is flush with the suction end of the straw 3131 in the initial state. When the straw 3131 is drawing up the sample tube, the sleeve 3134 can hold the sample tubes around the target sample tube to prevent the sample tubes around the target sample tube from being drawn up by negative pressure.

[0063] Furthermore, the storage component 312 includes a turntable 3121, a turntable driver 3122, and an outer support shell 3123. The turntable 3121 is disposed inside the outer support shell 3123. The turntable driver 3122 passes through the outer support shell 3123 and is connected to the turntable 3121. The turntable 3121 is provided with multiple sample tube storage channels 3124. Sample tubes can be stored in the sample tube storage channels 3124. The turntable 3121 can rotate in the outer support shell 3123. The multiple sample tube storage channels 3124 can correspond to the pipettes 3131.

[0064] Preferably, the turntable driver 3122 can drive the turntable 3121 to rotate 360 ​​degrees. The turntable 3121 has several sample tube storage channels 3124 inside. By rotating, each sample tube storage channel 3124 can be connected to the pipette 3131, so that the sample tubes sucked up by negative pressure can smoothly enter the corresponding sample tube storage channel 3124. Furthermore, the turntable 3121 can make the empty sample tube storage channel 3124 continue to receive sample tubes sucked up by negative pressure.

[0065] Preferably, the outer support shell 3123 can enclose the turntable 3121, allowing the turntable 3121 to rotate smoothly inside the outer support shell 3123 while ensuring airtightness.

[0066] Furthermore, a buffer 314 is also provided on the support member 311, and the storage member 312 and the telescopic sleeve member 313 can be elastically raised and lowered through the buffer 314; the buffer 314 can guide and limit the storage member 312 and the telescopic sleeve member 313.

[0067] Preferably, by setting a buffer 314, the storage component 312 and the telescopic sleeve component 313 can be elastically raised and lowered through the buffer 314, which plays a certain buffering role and avoids damage to the sample when picking the tube.

[0068] Preferably, the buffer 314 includes a second spring, a guide rod, a buffer slide shaft, and a buffer slider. The guide rod is disposed on the support 311, the second spring is sleeved on the guide rod, one side of the outer support shell 3123 is disposed on the guide rod, and the upper end of the second spring is disposed thereon. The buffer slide shaft is disposed on the support 311, the buffer slider is disposed on the buffer slide shaft, and the buffer slider and the buffer slide shaft are vertically slidably connected.

[0069] Furthermore, the lifting tube assembly 31 also includes a first lifting member 315, the support member 311 is slidably connected to the first lifting member 315, and the first lifting member 315 can drive the support member 311 to move vertically up and down.

[0070] Preferably, the first lifting member 315 is vertically arranged, and the support member 311 is vertically slidably connected to the first lifting member 315. The first lifting member 315 can drive the support member 311 to rise and fall, thereby driving the storage member 312 and the telescopic sleeve member 313 to rise and fall.

[0071] Furthermore, the gripping and picking mechanism 3 also includes a gripping component 33, which is mounted on the sliding shaft assembly 32. The gripping component 33 can slide on the sliding shaft assembly 32 and can grip and transport the plate frame.

[0072] Preferably, the gripping component 33 can slide on the sliding shaft component 32 in the Y-axis direction, and the gripping component 33 can grip the board frame and move up and down in the Z-axis direction.

[0073] Furthermore, the gripping assembly 33 includes a gripping component 331 and a gripping lifting shaft 332; the gripping component 331 is disposed on the gripping lifting shaft 332, the gripping component 331 can be raised and lowered on the gripping lifting shaft 332, and the gripping component 331 can grip the plate frame.

[0074] Preferably, the gripping component 331 can move up and down on the gripping lifting shaft 332 to achieve movement in the Z-axis direction. The gripping lifting shaft 332 can drive the gripping component 331 to move up and down to achieve gripping of the plate frame.

[0075] Furthermore, the gripping component 331 includes a gripping driver 3311, a gripping support frame 3312, and a gripper engagement component 3313; the gripping support frame 3312 is provided with the gripping driver 3311, which can drive the gripper engagement component 3313 to open and close, and the gripper engagement component 3313 grips the plate.

[0076] Preferably, the gripping driver 3311 can drive the gripper engagement 3313 to grip the plate frame; the gripping support frame 3312 can support the gripper engagement 3313.

[0077] Preferably, the gripper assembly includes grippers and a gripper linkage shaft. The gripper linkage shaft can be driven to rotate by a gripping driver. The gripper linkage shaft is provided with an arc-shaped groove, and the grippers are provided with protruding ends, which are located in the arc-shaped groove. The rotation of the gripper linkage shaft can cause the four sets of grippers to clamp towards the center or move away from the center. The gripper linkage shaft drives the four sets of grippers to grip the plate frame.

[0078] Furthermore, the operating chamber 1 is equipped with an extraction channel; the tube-grabbing mechanism 3 can grab and pick up samples from the storage chamber 2 through the extraction channel; a sealing cover is provided in the extraction channel, and the tube-grabbing mechanism 3 can grab the sealing cover.

[0079] Furthermore, the storage chamber 2 includes a double-layered insulated shell 21, on which an access channel 22 is provided. The access channel 22 can be docked with the operation chamber 1. A sample storage tray 23 is provided inside the double-layered insulated shell 21, which can store sample tubes.

[0080] Preferably, by setting up a double-layer heat-insulating shell 21, the internal sample tube can be kept warm, thus avoiding the exchange of temperatures between the inside and outside.

[0081] Furthermore, a tube picking area 24 is provided inside the double-layered heat-insulating shell 21, which is used for picking up sample tubes. The sample storage tray 23 can rotate in the double-layered heat-insulating shell 21 and drive the sample tube to connect with the storage and retrieval channel 22.

[0082] It should be noted that each device's storage compartment must provide pre-set sample storage trays, with no fewer than 1000 independent storage units per tray. Each group of storage units must be fixed and static within the storage area and physically isolated from each other, providing sufficient independent storage units for sample classification and storage according to different sources. Each independent storage unit within the storage tank area must have a cold storage function, allowing for safe emergency relocation of each unit in case of an emergency.

[0083] In summary, the present invention enables XYZ three-axis movement through the tube picking component 31 and the gripping component 33. The tube picking component 31 can be used to pick, store, and rotate a large number of sample tubes, which can greatly improve the efficiency of tube picking. The gripping component 33 can be used to store and retrieve the plates and racks in the operation chamber 1, and the storage chamber 2 can be used for large-scale low-temperature storage of sample tubes.

[0084] Example 3 Reference Figures 14-16 This is the third embodiment of the present invention. Based on embodiments 1 and 2, a pipe-picking method is further provided, wherein the steps performed by the pipe-picking component under program control include: D1: Conduct a stress test to determine the outcome; D2: The target or target group is absorbed. The tube picking component is equipped with multiple sample tube storage channels. Multiple targets enter the multiple sample tube storage channels one by one for temporary storage. D3: After the target or target group has been absorbed, the picking component will drive the target group to move and retrieve in a unified manner.

[0085] Preferably, the extraction, transfer, tube picking, placement, and sorting of samples within the equipment storage area are all carried out in the low-temperature tube picking area inside the storage chamber 2, thereby effectively ensuring sample activity and avoiding repeated freeze-thaw cycles.

[0086] Ideally, when samples are being moved in and out of the storage area, no part of any component of each device in the sample storage area should leave the sample storage tank area. The sample storage unit should remain stationary throughout the process, and only the sample tubes should be precisely moved in and out of the storage area to ensure a stable storage environment in the sample storage area. Furthermore, the tube picking assembly includes a suction head module, and multiple sample tube storage channels are arranged in a circumferential array on a turntable, which can rotate. In step D2 above, step D21 is also included: the suction head module positions the coordinates to pick up the sample tube. After each sample tube storage channel is picked up, the turntable drives the sample tube storage channel that has picked up the sample tube to rotate, so that the sample tube storage channel in the empty state corresponds to the position of the suction tube.

[0087] Between steps D2 and D3, there is also step D22. In step D22, the corresponding number of test tubes are drawn and tested. If the number of test tubes drawn is incorrect, the process returns to step D2; if the number of test tubes drawn is correct, the process proceeds to step D3.

[0088] Furthermore, the operating cabin is equipped with a program control unit, which includes a control module, a tube picking module, and a gripping module; the control module can control the tube picking module and the gripping module; the storage cabin is equipped with a tube picking area and a sample storage tray, which has multiple sample tube positions. This also includes methods for handling test tubes in and out of the warehouse: S1: The control module issues a test tube storage command; S2: The control module calculates the test tube coordinates and operating environment; S3: The control module controls the gripping module to grip and transport the plate rack, and controls the tube picking module to store the sample tubes into the storage compartment; S4: Use the pipe picking module to pick pipes within the pipe picking area.

[0089] Furthermore, step S3 includes: S31: The control module confirms the quantity received into the warehouse; S32: The control module calculates the test tube storage location and whether the test tube position and the rack position are valid; S33: The grabbing module grabs the warehouse rack and puts it into the operation cabin; S34: The tube picking module picks up and temporarily stores multiple test tubes on the plate rack; S35: The tube picking module places multiple aspirated test tubes into the sample storage disk or tube picking area according to the instructions of the control module.

[0090] Furthermore, step S4 includes: S41: The sample tubes in the sample tube picking area are selected and placed into the sample tube positions on the sample storage tray by the tube picking module; S42: Using the tube picking module, the sample tubes on the sample storage disk are picked up and placed on the tray in the tube picking area by the instructions of the control module. S43: According to the instructions of the control module, the sample picking module performs cyclic picking and storage operations on the sample storage disk and the sample picking area.

[0091] It should be noted that each device's storage compartment must provide pre-set sample storage trays, with no fewer than 1000 independent storage units per tray. Each group of storage units must be fixed and static within the storage area and physically isolated from each other, providing sufficient independent storage units for sample classification and storage according to different sources. Each independent storage unit within the storage tank area must have a cold storage function, allowing for safe emergency relocation of each unit in case of an emergency.

[0092] It should be noted that the straw procedure includes: T1: Pipette tip procedure for pipetting test tubes; T2: Negative pressure detection; T3: The suction head is Z-axis ready; T4: The suction head Z-axis positioning is complete; T5: Suction head negative pressure valve is open; T6: Negative pressure detection; T7: If there is no negative pressure, then the suction head negative pressure valve is closed, the air blowing valve is opened, the air blowing valve is closed, and the process returns to S5. T8: If there is negative pressure, the suction head rotation shaft is ready; T9: The suction head rotates 40°; T10: Test tube calculation; T11: The suction head Z-axis is ready - and loop back to step S5; T12: Head Z-axis return; T13: Action completed.

[0093] It should be noted that the procedure for placing the pipette tip into the test tube includes: P1: Procedure for placing the pipette tip into the test tube; P2: Initial Z-axis position of the suction head; P3: The suction head is ready for Z-axis operation; P4: The suction head Z-axis positioning is complete; P5: Rotate the suction head shaft 40°; P6: Inhaler head opening for blowing air; P7: Suction head blowing off; P8: Is the number of test tubes drawn correct? P9: If the quantity taken is incorrect, return to step S5; P10: If the quantity absorbed is correct P11: Head Z-axis return; P12: Action completed.

[0094] This invention enables rapid aspiration and placement of multiple test tubes, thus facilitating quick tube picking and the rapid release and storage of test tubes, significantly improving tube picking efficiency. It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0095] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0096] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0097] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An access system, characterized by: Including operation cabin (1) and storage cabin (2);The operation cabin (1) is provided with the grabbing tube mechanism (3);The grabbing tube mechanism (3) can move in the operation cabin (1), the grabbing tube mechanism (3) can access the sample plate frame to the storage cabin (2), the grabbing tube mechanism (3) can access and transport to multiple groups of samples.

2. The access system of claim 1, wherein: The grabbing tube mechanism (3) includes tube assembly (31) and sliding shaft assembly (32);The tube assembly (31) is arranged on the sliding shaft assembly (32), and the tube assembly (31) can move in Y axis direction on the sliding shaft assembly (32), the sliding shaft assembly (32) can move in X axis direction in the operation cabin (1), the tube assembly (31) can lift multiple sample tubes and suck the tube.

3. The access system of claim 2, wherein: The tube assembly (31) includes support (311), storage component (312) and telescopic sleeve component (313);The support (311) is provided with the storage component (312), the storage component (312) is communicated with the telescopic sleeve component (313), the storage component (312) can rotate and suck multiple sample tubes, the telescopic sleeve component (313) can position and suck the sample tube, the storage component (312) is communicated with the external vacuum component.

4. The access system of claim 3, wherein: The telescopic sleeve component (313) includes suction tube (3131), the suction tube (3131) is provided with limiting ring (3132), the limiting ring (3132) is connected with first elastic member (3133), and the first elastic member (3133) is sleeved outside the suction tube (3131), one end of the first elastic member (3133) is connected with sleeve (3134), the sleeve (3134) is arranged outside the suction end of the suction tube (3131), and the suction tube (3131) can suck the sample tube into the storage component (312) in vacuum.

5. The access system of claim 4, wherein: The storage component (312) includes turntable (3121), turntable driver (3122) and outer support shell (3123);The turntable (3121) is arranged inside the outer support shell (3123), the turntable driver (3122) is connected with the turntable (3121) through the outer support shell (3123), the turntable (3121) is provided with a plurality of sample tube storage channels (3124), the sample tube storage channels (3124) can store sample tubes, the turntable (3121) can rotate in the outer support shell (3123), and the plurality of sample tube storage channels (3124) can correspond to the suction tube (3131).

6. The access system of claim 3, wherein: The support (311) is further provided with buffer (314), the storage component (312) and telescopic sleeve component (313) can be elastically lifted through the buffer (314);The buffer (314) can guide and limit the storage component (312) and the telescopic sleeve component (313).

7. The access system of claim 3, wherein: The tube picking assembly (31) further comprises a first lifting member (315), the support member (311) is in sliding connection with the first lifting member (315), and the first lifting member (315) can drive the support member (311) to vertically lift.

8. The access system of claim 2, wherein: The grabbing tube picking mechanism (3) further comprises a grabbing assembly (33), the grabbing assembly (33) is arranged on the sliding shaft assembly (32), the grabbing assembly (33) can slide on the sliding shaft assembly (32), and the grabbing assembly (33) can grab and transfer the plate rack.

9. The access system of claim 8, wherein: The grabbing assembly (33) comprises a grabbing component (331) and a grabbing lifting shaft (332); the grabbing component (331) is arranged on the grabbing lifting shaft (332), the grabbing component (331) can lift on the grabbing lifting shaft (332), and the grabbing component (331) can grab the plate rack.

10. The access system of claim 9, wherein: The grabbing component (331) comprises a grabbing driver (3311), a grabbing support frame (3312) and a clamping jaw matching member (3313); the grabbing driver (3311) is arranged on the grabbing support frame (3312), the grabbing driver (3311) can drive the clamping jaw matching member (3313) to open and close, and the clamping jaw matching member (3313) grabs the plate.

11. The access system of claim 1, wherein: An extraction channel is arranged in the operation cabin (1); the grabbing tube picking mechanism (3) can grab and pick the sample and the tube in the storage cabin (2) through the extraction channel; a sealing cover is arranged in the extraction channel, and the grabbing tube picking mechanism (3) can grab the sealing cover.

12. The access system of claim 10, wherein: The storage cabin (2) comprises a double-layer heat preservation shell (21), the double-layer heat preservation shell (21) is provided with an access channel (22), the access channel (22) can be connected with the operation cabin (1), and the double-layer heat preservation shell (21) is provided with a sample storage disc (23); the sample storage disc (23) can store the sample tube.

13. The access system of claim 12, wherein: The double-layer heat preservation shell (21) is further provided with a tube picking area (24), the tube picking area (24) can be used for picking the sample, and the sample storage disc (23) can rotate in the double-layer heat preservation shell (21) and drive the sample tube to be connected with the access channel (22).

14. A method of tube picking, characterized by: The access system comprises the access system according to any one of claims 2-13; The steps of the tube picking assembly controlled by the program include: D1: performing a pressure test; D2: sucking the target or target group, the tube picking assembly is provided with a plurality of sample tube storage channels, and the plurality of targets are temporarily stored in the plurality of sample tube storage channels one by one; D3: after the target or target group is sucked, the target group is uniformly moved and accessed by the tube picking assembly.

15. The tube picking method of claim 14, wherein: The tube picking assembly comprises a suction head module, a plurality of sample tube storage channels are circumferentially arranged on a rotating disc, and the rotating disc can rotate; in the step D2, the step D21 of sucking by the suction head module positioning coordinates is further included, after each sample tube storage channel is sucked to a position, the rotating disc drives the sample tube storage channel, which has sucked the test tube to the position, to rotate, so that the sample tube storage channel in an idle state corresponds to the position of the suction tube.

16. The tube picking method of claim 14, wherein: Between the above-mentioned steps D2 and D3, a D22 step is further included, the D22 step is to suck a corresponding number of test tubes for detection, if the number of test tubes is incorrect, return to the D2 step; if the number of test tubes is correct, enter the D3 step.

17. The tube picking method of claim 15, wherein: The operation cabin is provided with a program control unit, the program control unit includes a control module, a tube picking module and a grabbing module; the control module can control the tube picking module and the grabbing module; the storage cabin is provided with a tube picking area, the storage cabin is provided with a sample storage disc, and the sample storage disc is provided with a plurality of sample tube positions; The method further includes a test tube warehouse in and out method: S1: the control module issues a test tube warehouse in command; S2: the control module calculates test tube coordinates and operating environment; S3: the control module controls the grabbing module to grab and transfer the plate rack, and controls the tube picking module to store the sample tubes into the storage cabin; S4: the tube picking module performs tube picking work in the tube picking area.

18. The tube picking method of claim 17, wherein: The S3 step includes: S31: the control module confirms the warehouse in quantity; S32: the control module calculates test tube storage positions, and calculates whether test tube positions and plate rack positions are valid; S33: the grabbing module grabs the warehouse in plate rack into the operation cabin; S34: the tube picking module sucks and temporarily stores a plurality of test tubes on the plate rack; S35: the tube picking module stores the sucked plurality of test tubes into the sample storage disc or the tube picking area according to the control module instruction.

19. The tube picking method of claim 17, wherein: The S4 step includes: S41: the tube picking module picks and sucks the sample tubes in the tube picking area into the sample tube positions on the sample storage disc; S42: the control module instructs the tube picking module to suck the sample tubes on the sample storage disc into the plate rack in the tube picking area for tube picking; S43: the control module instructs the tube picking module to perform tube picking and storage operation on the sample tubes in the sample storage disc and the tube picking area, and complete the warehouse in or out operation.

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