Automatic freeze-drying equipment and method and automatic preparation system

Abstract

The invention provides automatic freeze-drying equipment, an automatic freeze-drying method and an automatic preparation system. The automatic freeze-drying equipment comprises a rack; the freeze dryer is arranged on the rack and is used for freeze-drying the sample; the intelligent operation module is arranged on the rack; wherein the intelligent operation module comprises a ground rail, a robot, a weighing module and a labeling machine, the robot is arranged on the ground rail and can move along the ground rail to convey materials, the weighing module is used for weighing the materials, and the materials comprise samples and containing containers of the samples; and the labeling machine is used for marking the container of the sample so as to record and / or track the information of the container and the sample. According to the automatic freeze-drying equipment disclosed by the invention, the weight change of a freeze-dried sample can be known, and materials are conveyed among the weighing module, the labeling machine, the freeze-drying machine and the like through the robot, so that the freeze-drying efficiency and the intelligent operation level are improved, and full-process automation and unmanned operation are realized.

Description

Technical Field

[0001] This disclosure relates to the field of automated equipment technology, specifically to the field of pharmaceutical and chemical automated equipment technology, and more specifically to automated freeze-drying equipment, automated preparation systems, and automated freeze-drying methods. Background Technology

[0002] Freeze dryers are low-temperature drying modules that use the principle of sublimation to dehydrate materials, and they are widely used in pharmaceutical, chemical and other fields. However, traditional freeze dryers have low levels of automation and poor transfer efficiency, high labor costs, or limited applicability, such as being unsuitable for laboratory settings. Furthermore, existing freeze dryers suffer from high levels of manual intervention and low production efficiency during operation. Summary of the Invention

[0003] To address the aforementioned technical problems, this disclosure provides an automated freeze-drying device, an automated freeze-drying method, and an automated preparation system, with the aim of improving operational efficiency and reducing human intervention.

[0004] This disclosure provides an automated freeze-drying apparatus, comprising: a frame; a freeze dryer, mounted on the frame and used for freeze-drying samples; and an intelligent operation module, mounted on the frame. The intelligent operation module includes a ground rail, a robot, a weighing module, and a labeling machine. The robot is mounted on the ground rail and can move along the rail for material transfer. The weighing module is used to weigh the materials, including samples and their containers. The labeling machine is used to label the sample containers to record and / or track information about the containers and samples.

[0005] In some embodiments, the intelligent operation module further includes an exchange compartment and a positioning QR code for positioning external mobile devices, the positioning QR code including two electronic QR codes located on both sides of the exchange compartment.

[0006] In some embodiments, the intelligent operation module further includes a tool rack and a temporary test tube rack located adjacent to the exchange chamber, the tool rack being used to hold at least one of a tray gripper, a concentration bottle gripper, and a test tube gripper.

[0007] In some embodiments, the robot is provided with a first quick-connect fitting, and a second quick-connect fitting is provided on the tray gripper, concentration bottle gripper and / or test tube gripper, wherein the first quick-connect fitting and the second quick-connect fitting are matched and detachably connected.

[0008] In some embodiments, the weighing module and the temporary test tube rack are respectively arranged on both sides of the ground rail.

[0009] In some embodiments, the intelligent operation module further includes a weighing recorder adjacent to the weighing module, the weighing recorder being used to identify the material being weighed and record the weight of the corresponding material.

[0010] In some embodiments, the weighing module is surrounded by an outer cover, and the top of the weighing module is provided with an automatically opening and closing outer cover door. When material is detected approaching, the outer cover door opens automatically; after the material is placed on the weighing module, the outer cover door closes automatically; and after the weighing of the material is completed, the outer cover door opens automatically.

[0011] In some embodiments, the labeling machine includes a label printing module and a rotary labeling module connected to the label printing module. The rotary labeling module includes an idler wheel, a torsion spring, a horizontal support base, a vertical support base, and a limiting block. The idler wheel is mounted on the horizontal support base and is rotatable relative to the horizontal support base. The horizontal support base and the vertical support base are rotatably connected. The main body of the torsion spring is mounted on the horizontal support base. One side of the torsion spring extends into contact with the limiting block, and the other side of the torsion spring extends into contact with the vertical support base. The limiting block is disposed on the horizontal support base.

[0012] In some embodiments, the intelligent operation module further includes a labeling tube rack, a labeling barcode scanner, and a labeling tube transfer station adjacent to the labeling machine. The labeling tube rack and the labeling tube transfer station are both used to receive tubes to be labeled or tubes that have already been labeled, and the labeling barcode scanner is used to bind information to the labeling tubes.

[0013] In some embodiments, the weighing module includes a 1 / 1000 balance and / or a 1 / 10,000 balance.

[0014] In some embodiments, the robot is equipped with an image recognition module to facilitate its positioning and operation.

[0015] This disclosure also provides an automated preparation system, which includes a mobile device and the aforementioned automated freeze-drying equipment. The mobile device is used to pick up and put down materials in the exchange chamber of the automated freeze-drying equipment.

[0016] This disclosure also provides an automated freeze-drying method, comprising: receiving a sample to be freeze-dried and a container for holding the sample; transferring the container to a labeling machine via a robot for automatic labeling; binding information to the labeling container via a labeling barcode scanner; transferring the labeling container to a weighing module via a robot for weighing, and recording the weight by a weighing recorder; transferring the sample to be freeze-dried into the labeling container via a robot; transferring the labeling container containing the sample to be freeze-dried to a freeze dryer via a robot for freeze-drying; and transferring the freeze-dried labeling container to the weighing module via a robot for weighing, and recording the weight by a weighing recorder.

[0017] In some embodiments, the automated freeze-drying method further includes: before freeze-drying, transferring a labeled container containing the sample to be freeze-dried to a weighing module by a robot for weighing, and recording the weight by a weighing recorder.

[0018] In some embodiments, the weighing recorder is positioned adjacent to the weighing module.

[0019] In some embodiments, the weighing module is surrounded by an outer cover, and the top of the weighing module is provided with an automatically opening and closing outer cover door. When material is detected approaching, the outer cover door opens automatically; after the material is placed on the weighing module, the outer cover door closes automatically; and after the weighing of the material is completed, the outer cover door opens automatically.

[0020] In some embodiments, the labeling machine includes a label printing module and a rotary labeling module connected to the label printing module. The rotary labeling module includes an idler wheel, a torsion spring, a horizontal support base, a vertical support base, and a limiting block. The idler wheel is mounted on the horizontal support base and is rotatable relative to the horizontal support base. The horizontal support base and the vertical support base are rotatably connected. The main body of the torsion spring is mounted on the horizontal support base. One side of the torsion spring extends into contact with the limiting block, and the other side of the torsion spring extends into contact with the vertical support base. The limiting block is disposed on the horizontal support base.

[0021] In some embodiments, during the automatic labeling process, a robot grips a container and moves it to the labeling position of the labeling machine, bringing the container close to the idler wheel. The label printing module then dispenses a label with the adhesive side facing the container. The robot affixes the label to the container and it comes into contact with the idler wheel. The robot rotates the container parallel to the horizontal direction, and the container synchronously drives the idler wheel to rotate, thus completing the labeling of the container.

[0022] This disclosure utilizes a ground rail mounted on a frame, allowing the robot to move along it. This improves work efficiency, reduces labor costs, and minimizes the possibility of interference or collisions between the robot and other modules. This also expands the freedom of module placement and further enhances material transfer efficiency, achieving full automation and unmanned operation of the sample freeze-drying process. Furthermore, by incorporating a weighing module and a labeling machine, the labeling machine binds information to the sample container, and the weighing module weighs the container and the sample before and after freeze-drying. This automated freeze-drying equipment allows for monitoring of sample weight changes, and the robot's movement between the weighing module, labeling machine, and freeze dryer further improves freeze-drying efficiency and enhances intelligent operation. Attached Figure Description

[0023] Figure 1 A perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure is shown.

[0024] Figure 2 A perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure is shown.

[0025] Figure 3A perspective view of a gripper according to some embodiments of the present disclosure is shown.

[0026] Figure 4 A perspective view of a labeling machine according to some embodiments of the present disclosure is shown.

[0027] Figure 5 A flowchart of an automated freeze-drying method according to some embodiments of the present disclosure is shown. Detailed Implementation

[0028] The following embodiments are intended to enable those skilled in the art to fully understand this disclosure, but do not limit this disclosure in any way.

[0029] Figure 1 and Figure 2 A perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure is shown. (Reference) Figure 1 and Figure 2 In some embodiments, the automated freeze-drying equipment of this disclosure includes a frame 4, a freeze dryer 1, and an intelligent operation module. In some embodiments, the frame 4 may be formed of suitable materials such as stainless steel and resin. In some embodiments, an outer cover 2 may be formed on the frame 4, so that the frame 4 and the outer cover 2 form a relatively independent housing space, which is beneficial for the maintenance of the operating environment. In some embodiments, the shape and size of the frame 4 can be designed according to actual needs, and is generally rectangular or cuboid, but this disclosure is not limited thereto. In some embodiments, the outer cover 2 is provided with an automatic lifting door 3 and a side door 5.

[0030] In some embodiments, the freeze dryer 1 is mounted on the rack 4 and is used for freeze-drying samples. In some embodiments, the freeze dryer 1 has two racks with a total of 18 tray placement positions; however, this is only exemplary, and other suitable racks and tray placement positions may also be used. In some embodiments, the door of the freeze dryer 1 is an automatic door. When a tray is placed into the freeze dryer 1, the freeze dryer door automatically opens, and when the freeze dryer racks are pushed to the freeze-drying position, the freeze dryer 1 starts freeze-drying.

[0031] In some embodiments, the sample is a biological sample, a pharmaceutical sample, or a chemical sample. When the sample is a pharmaceutical sample, it can be a Western medicine sample, a traditional Chinese medicine sample, or other drug samples with medicinal effects. For example, traditional Chinese medicine samples include raw medicinal herbs, prepared slices of traditional Chinese medicine, proprietary Chinese medicines, semi-finished traditional Chinese medicines, and medicinal plants.

[0032] In some embodiments, the freeze dryer 1 mainly includes a condenser, a drying chamber, a vacuum pump system, a heating system, a control system, and a feeding / discharging system. In some embodiments, the condenser is used to capture water vapor sublimated from the material and refreeze it into ice, thereby separating it from the material in the drying chamber. The condenser is typically at a lower temperature than the drying chamber to ensure efficient water vapor capture. In some embodiments, the drying chamber is a space for placing the material or sample to be freeze-dried. The material can be in solid, liquid, or semi-solid form. Depending on different application requirements, the drying chamber may be equipped with trays, bottles, or other containers to hold the material. In some embodiments, the vacuum pump system is used to reduce the pressure in the drying chamber, creating a low-pressure environment conducive to water sublimation. The degree of vacuum directly affects the freeze-drying efficiency and product quality. In some embodiments, the heating system provides the necessary heat to the material, promoting the direct conversion of ice crystals into vapor (i.e., sublimation) without passing through a liquid stage. The heating method can be radiation heating, contact heating, or microwave heating, etc. In some embodiments, the control system includes temperature control, pressure control, and time control, ensuring that the entire freeze-drying process proceeds according to preset parameters. In some embodiments, the feeding / discharging system is used to feed materials into the drying chamber or remove processed materials, for example, a freeze dryer rack. In some embodiments, the number of freeze dryers 1 in the automated freeze drying equipment of this disclosure can be 1, 2, 3, 4 or 5, etc., and is not limited to 2 as shown in the figure.

[0033] In some embodiments, the intelligent operation module is mounted on the frame 4. In some embodiments, the intelligent operation module includes a ground rail 7, a robot 15, weighing modules 16 / 18, and a labeling machine 11. In some embodiments, the robot 15 is mounted on the ground rail 7 and is capable of moving along the ground rail 7 for material transfer. In some embodiments, the ground rail 7 may be a single-rail design, a double-rail design, or any other suitable design. In some embodiments, the ground rail 7 may consist only of straight rails (or linear ground rails), or may include straight rails and curved rails, with the curved rails used to change the direction of travel, for example, when the ground rail 7 is L-shaped or other shapes requiring turning. In some embodiments, the freeze dryer 1 and other components of this disclosure are arranged around the ground rail 7. In some embodiments, the robot 15 has components that match the track on the ground rail 7, allowing the robot 15 to move on the ground rail 7 and to brake and lock at a designated position on the ground rail 7, thus improving the operational stability of the robot 15. In some embodiments, the robot 15 can be used for material transfer between various modules in an automated freeze-drying device. In some embodiments, the robot 15 may include a three-axis robot, a four-axis robot, or a six-axis robot, but this disclosure is not limited thereto.

[0034] In some embodiments, the weighing modules 16 / 18 are used to weigh materials, including samples (e.g., traditional Chinese medicine extracts) and their containers (e.g., test tubes or concentration bottles). In some embodiments, the weighing modules include a 1 / 1000 balance 18 and / or a 1 / 10,000 balance 16. By weighing the samples and containers before and after freeze-drying, the freeze-dried sample yield can be obtained. In some embodiments, the labeling machine 11 is used to identify the sample containers to record and / or track information about the containers and samples. In some embodiments, the labeling machine 11 binds the information of the containers to the labels by affixing labels, thus enabling convenient intelligent and information-based management of the containers and the freeze-dried samples inside throughout the freeze-drying process, improving the operational efficiency of the freeze-drying process. Therefore, the automated freeze-drying equipment of this disclosure can significantly improve the efficiency of the freeze-drying production process, greatly reduce manual intervention, and simultaneously realize information-based management of materials, achieving unmanned operation of the freeze-drying process, automated production, and information-based management of material warehousing and outbound processes.

[0035] Furthermore, typically, the robot is fixed in a certain position on the frame, and various modules are arranged around the robot. In this case, taller modules are usually positioned further away from the robot to prevent interference and collisions between the robot's robotic arm and the modules. This results in limited module layout; for example, due to height constraints, two modules with frequent material transfers may be positioned far apart, unnecessarily increasing the material transfer distance and reducing material transfer efficiency. This disclosure, by setting up a ground rail 7 along which the robot 15 moves, reduces the problem of interference and collisions between the fixed robot and modules during operation without compromising the compactness of the automated freeze-drying equipment, because the robot 15 moves to the appropriate position on the ground rail 7 before operating. Additionally, this reduces the operational complexity of the robot 15, as it can interact with various modules at a closer distance. Therefore, the automated freeze-drying equipment of this disclosure improves work efficiency and reduces labor costs, while the ground rail 7 reduces the possibility of interference and collisions between the robot 15 and the processing modules, thereby expanding the freedom of module placement and further improving material transfer efficiency.

[0036] In some embodiments, such as Figure 1 As shown, rack 4 has a screen that is roughly parallel to the horizontal plane, and the intelligent operation module is mounted on rack 4. The external structure of the intelligent operation module is roughly a frame structure, which can be a structure built from multiple horizontal beams, vertical beams, etc., and connected between the horizontal beams and vertical beams by plates. The cavity in the frame structure can accommodate various equipment, instruments, power supply and control modules, and experimental consumables of the intelligent operation module.

[0037] In some embodiments, the intelligent operation module further includes an exchange compartment 9 and a positioning QR code position 8 for positioning of an external mobile device (e.g., an automated guided vehicle (AGV) trolley). In some embodiments, the positioning QR code position 8 includes two electronic QR codes located on both sides of the exchange compartment 9. In some embodiments, such as Figure 2 As shown, the positioning QR code position 8 includes two electronic QR codes staggered front to back. An AGV (Automated Guided Vehicle) integrates a camera to capture and analyze images of the two electronic QR codes, determining the position of the exchange chamber 9. The composite robotic arm on the AGV then retrieves and places materials (typically pallets) within the exchange chamber 9. In some embodiments, the exchange chamber 9 is used to exchange materials with external sources. For example, the exchange chamber 9 can hold pallets, flasks, consumables, etc., transported by an external AGV. Additionally, materials processed in an automated freeze-drying device (e.g., freeze-dried samples) can be placed in the exchange chamber 9, after which an external AGV can transport the processed materials to other suitable processing equipment for further processing. In some embodiments, various types of test tubes and concentration bottles can be placed on the pallets. In some embodiments, the exchange chamber 9 has three pallet storage positions, positioned precisely by positioning elements (e.g., pins) on the exchange chamber 9. It should be understood that this is merely exemplary, and the exchange chamber 9 may also include other numbers and structures of pallet storage positions.

[0038] In some embodiments, the intelligent operation module further includes a tool rack 6 and a temporary test tube rack 10 disposed adjacent to the exchange chamber 9. The tool rack 6 is used to place at least one of the tray grippers, concentration bottle grippers and test tube grippers. Figure 3 A perspective view of grippers according to some embodiments of the present disclosure is shown. In some embodiments, the robot 15 is provided with a first quick-change connector, and the tray gripper 21, the concentrate bottle gripper 20, and / or the test tube gripper 19 are provided with a second quick-change connector 22. The first quick-change connector and the second quick-change connector 22 are matched and detachably connected (e.g., magnetic connection, snap-fit, etc.), thus enabling quick-change of gripper tools to suit different working scenarios. In some embodiments, the robot 15 is connected to the tray gripper 21, which enables the gripping of trays for transfer, and the pulling out and pushing in of the freeze dryer rack. Because the tip of the fingers of the tray gripper 21 is provided with a small hook, the pulling out and pushing in of the freeze dryer rack can be achieved. In some embodiments, the robot 15 is connected to the concentrate bottle gripper 20, which enables the gripping of concentrate bottles from the tray to the one-hundredth-amount balance 18 for weighing, and the gripping of concentrate bottles to the labeling machine 11 for labeling. In some embodiments, the robot 15 is connected to the test tube gripper 19, which can pick up test tubes from the tray and weigh them in the balance 16, and pick up the test tubes and label them in the labeling machine 11.

[0039] In some embodiments, the pallet gripper 21 includes: a gripping arm for connection to a drive mechanism; and gripper fingers buoyantly connected to the gripping arm, the gripper fingers having a gripping surface. The drive mechanism drives the gripping arm to move, thereby causing the gripper fingers to grip or release the object to be gripped. It should be understood that this is merely exemplary, and the pallet gripper 21 may also include other suitable gripper structures. Figure 3 As shown, in the tray gripper 21 of this disclosure, a small hook is provided at the foremost tip of the gripper fingers, thereby enabling the freeze dryer rack to be pulled out and pushed in.

[0040] In some embodiments, the temporary test tube rack 10 has 3 layers with a total of 18 tray storage locations; however, this is merely exemplary and may include other numbers of layers and tray storage locations. In some embodiments, the robot 15 grips the tubes from the exchange compartment 9. test tube, The test tubes and 250ml concentrate flask trays are transferred to the temporary test tube rack 10, and robot 15 will... test tube, Test tubes and 250ml concentration bottles are individually clamped to the front of the weighing barcode scanner 17, scanned for binding information, placed on the balance for weighing, and then clamped to the tray after weighing. In some embodiments, test tube, Weigh the test tube in a 1 / 10,000 balance (16), and weigh the 250ml concentration bottle in a 1 / 1000 balance (18).

[0041] In some embodiments, the weighing modules 16 / 18 and the temporary test tube rack 10 are respectively disposed on both sides of the ground rail 7. This allows the robot 15 to conveniently transfer test tubes from the temporary test tube rack 10 to the weighing modules 16 / 18 for weighing, and conveniently place the weighed test tubes back into the temporary test tube rack 10. In some embodiments, the temporary test tube rack 10 is used to temporarily store test tube trays in the automated freeze-drying equipment. For example, the space in the exchange chamber 9 is typically limited. To avoid affecting the material exchange between the automated freeze-drying equipment and external sources, after the external AGV places materials in the exchange chamber 9, the robot 15 can transfer the material trays in the exchange chamber 9 to the temporary test tube rack 10 for temporary storage. This frees up space in the exchange chamber 9 for normal material exchange and transfer with the external AGV.

[0042] In some embodiments, the intelligent operation module further includes a weighing recorder 17 adjacent to the weighing module, the weighing recorder 17 being used to identify the material being weighed and record the weight of the corresponding material. In some embodiments, the weighing recorder 17 includes a weighing barcode scanner.

[0043] In some embodiments, the weighing module 16 / 18 is surrounded by an outer cover, and the top of the weighing module 16 / 18 is provided with an automatically opening and closing outer cover door. The outer cover door automatically opens when material is detected approaching; it automatically closes after the material is placed on the weighing module; and it automatically opens again after weighing is complete. Therefore, when weighing is required, the top outer cover door of the balance automatically opens; after the material is placed on the balance, the top outer cover door is closed for weighing; after weighing is complete, the top outer cover door automatically opens; after the material is removed, the top outer cover door automatically closes; and when weighing is not required, the top outer cover door is closed. In this disclosure, the purpose of the outer cover is to prevent wind and static electricity, and to avoid the external environment affecting the accuracy of the balance during weighing.

[0044] In some embodiments, such as Figure 4 As shown, the labeling machine 11 includes a label printing module 23 and a rotary labeling module connected to the label printing module 23. In some embodiments, the rotary labeling module includes an idler wheel 23, a torsion spring 25, a horizontal support 26, a vertical support 27, and a limiting block 28. In some embodiments, the idler wheel 24 is mounted on the horizontal support 26 and is rotatable relative to the horizontal support 26. Specifically, a rotating shaft is fixedly mounted on the horizontal support 26, and a bearing is provided inside the idler wheel 24. The bearing is rotatably connected to the rotating shaft. When the idler wheel 24 rotates, it drives the bearing to rotate, thereby allowing the idler wheel 24 to rotate relative to the horizontal support 26. In some embodiments, the horizontal support 26 and the vertical support 27 are rotatably connected, or the rotatable connection can be achieved through a rotating shaft and a bearing. The torsion spring 25 limits the rotation angle between the horizontal support 26 and the vertical support 27. In some embodiments, the main body of the torsion spring 25 is mounted on the horizontal support 26, one side of the torsion spring 25 abuts against the limiting block 28, and the other side of the torsion spring 25 abuts against the vertical support 27. The vertical support 27 is provided with a groove structure for limiting the torsion spring 25, and the limiting block 28 is provided on the horizontal support 26.

[0045] In some embodiments, the intelligent operation module further includes a labeling tube rack 12, a labeling barcode scanner 13, and a labeling tube transfer station 14 adjacent to the labeling machine 11. The labeling tube rack 12 and the labeling tube transfer station 14 are both used to receive tubes to be labeled or tubes that have already been labeled. The labeling barcode scanner 13 is used to bind information to the labeled tubes.

[0046] In some embodiments, robot 15 connects to pallet gripper 21 and picks up a material pallet to be labeled from exchange chamber 9 and places it in labeling test tube transfer position 14. In some embodiments, robot 15 switches to connect to test tube gripper 19, and robot 15 picks up the test tube and places it at the labeling position of labeling machine 11, with the test tube close to idler wheel 24; label printing module 23 delivers a label with the adhesive side facing the test tube, robot 15 affixes the label to the test tube and abuts it against idler wheel 24, and at the same time, robot 15 rotates the test tube parallel to the horizontal direction on its sixth axis, and the test tube synchronously drives idler wheel 24 to rotate, thus completing the test tube labeling. In some embodiments, robot 15 picks up the labeled test tube and places it at labeling barcode scanner 13 for information binding. In some embodiments, after labeling and scanning are completed, the test tube is placed back in the labeling test tube transfer position 14 pallet. In some embodiments, the robot 15 picks up the tray and transfers it to the temporary test tube rack 10 for subsequent weighing and freeze-drying processes; or, the robot 15 picks up the tray and transfers it to the exchange bin 9, where it is picked up by an AGV and transferred to the next workstation.

[0047] In some embodiments, the automated freeze-drying equipment of this disclosure can support manual loading of test tubes into the labeling test tube rack 12 for automatic labeling. The equipment of this disclosure allows the opening of the side door 5, which can be opened manually to load the tray containing the test tubes to be labeled into the labeling test tube rack 12. After loading, the side door 5 is closed, and the automated freeze-drying equipment begins the automatic labeling and scanning process. After completing the automatic labeling process, the automated freeze-drying equipment provides two unloading methods: the tray can be transferred to the exchange compartment 9 and picked up by an AGV trolley and transferred to the next workstation; or, the tray can be transferred to the labeling test tube rack 12 for manual unloading.

[0048] In some embodiments, the temporary storage tube rack 10 is located adjacent to the exchange chamber 9. Thus, after an external AGV places materials into the exchange chamber 9, the robot 15 can efficiently and quickly transfer the materials from the exchange chamber 9 to the temporary storage tube rack 10 for temporary storage. In some embodiments, the temporary storage tube rack 10 may be provided with positioning elements, such as stepped pins, connecting posts, or elastic clips, to engage with and secure concentration bottles or test tube trays, preventing these materials from slipping or falling.

[0049] like Figure 2As shown, in some embodiments, the exchange chamber 9 is located at the edge of one side of the automated freeze-drying equipment. This allows external AGVs to easily exchange materials with the exchange chamber 9. In some embodiments, the exchange chamber 9 may include at least two compartments (a first compartment and a second compartment), where the first compartment receives materials delivered by the external AGV, and the second compartment holds materials to be sent out of the automated freeze-drying equipment. In some embodiments, both the first and second compartments are equipped with sensors. Once materials delivered by the external AGV are placed in the first compartment, a notification is sent to the robot 15, informing it that there are materials to be handled or transferred in the first compartment; once materials to be retrieved by the external AGV are placed in the second compartment, a notification is sent to the external AGV, informing it that there are materials to be retrieved in the second compartment. In some embodiments, both the first and second compartments may be equipped with positioning elements, such as stepped pins, connecting posts, or elastic clips, to cooperate with and secure concentration bottles or test tube trays, preventing these materials from slipping or falling.

[0050] In some embodiments, a recycling mechanism may be provided within the base at the bottom of the frame. This recycling mechanism passes through the frame to collect waste solutions, containers, etc. In some embodiments, the base at the bottom of the frame is a hollow shell, and its internal space can house the control and electrical modules of the robot 15 and the processing module, such as an electrical box, a computer host, or a robotic arm control box. Additionally, the base may also be equipped with multiple cooling fans to dissipate heat from the electrical control modules within it; the controllers for these cooling fans may also be located within the base.

[0051] In some embodiments, the robot 15 is equipped with an image recognition module to facilitate the robot's positioning and operation. For example, in some embodiments, the robot 15 may be equipped with a camera to acquire surrounding images for image analysis, which can help locate the corresponding processing module for material exchange, and can also be used to improve operational accuracy, such as adjusting the robot 15's pose in real time based on the acquired images to exchange materials with the corresponding processing module.

[0052] In some embodiments, this disclosure also provides an automated preparation system, which includes a mobile device and the aforementioned automated freeze-drying equipment. The mobile device is used to pick up and place materials in the exchange compartment of the automated freeze-drying equipment. In some embodiments, the mobile device may include an AGV (Automated Guided Vehicle), which can transfer materials between the automated freeze-drying equipment and other external devices. The mobile device can be any mobile device in the prior art capable of performing the above functions, such as, but not limited to, mobile AGVs or mobile robots.

[0053] In some embodiments, this disclosure also provides an automated freeze-drying method, such as Figure 5As shown, the process includes: Step S101, receiving the sample to be freeze-dried; Step S102, using a robot to transfer the container holding the sample to be freeze-dried to a labeling machine for automatic labeling; Step S103, using a labeling barcode scanner to bind information to the labeling container; Step S104, using a robot to transfer the labeling container to a weighing module for weighing, and recording the weight by a weighing recorder; Step S105, using a robot to transfer the sample to be freeze-dried to the labeling container; Step S106, using a robot to transfer the labeling container containing the sample to be freeze-dried to a freeze dryer for freeze-drying; Step S107, using a robot to transfer the freeze-dried labeling container to a weighing module for weighing, and recording the weight by a weighing recorder.

[0054] In some embodiments, in step S101, the sample to be freeze-dried and a container (e.g., a concentration bottle or test tube) for holding the sample can be received through the exchange chamber 9. An external AGV transports the sample to be freeze-dried to the exchange chamber 9 of the automated freeze-drying equipment for the freeze-drying process. In some embodiments, in step S102, the container for holding the sample to be freeze-dried is transferred to the labeling machine 11 by the robot 15 for automatic labeling. In some embodiments, in step S103, the labeling container is information-bound by the labeling barcode scanner 13. Then, when the labeling container is weighed, the relevant information can be recorded by scanning the barcode, thereby realizing intelligent information management, that is, matching the container with the barcode information on the information system. In some embodiments, in step S104, the labeling container is transferred to the weighing module 16 / 18 by the robot 15 for weighing, and the weighing recorder 17 records the weight of the container itself. In some embodiments, in step S105, the sample to be freeze-dried is transferred to the labeling container by the robot 15. In some embodiments, in step S106, the robot 15 transfers the labeled container containing the sample to be freeze-dried to the freeze dryer 1 for freeze-drying. In some embodiments, in step S107, the robot 15 transfers the freeze-dried labeled container to the weighing module 16 / 18 for weighing, and the weighing recorder 17 records the weight. Specifically, after the sample freeze-drying is completed, the robot picks up the container and places it at the barcode scanning station (weighing recorder) for barcode scanning, then transfers it to the weighing module for weighing. The weighing result after freeze-drying is subtracted from the mass of the empty bottle recorded in the information system to calculate the mass of the freeze-dried product. Thus, the total weight of the container and the freeze-dried sample can be determined, and consequently, the weight of the frozen sample can be determined.

[0055] In some embodiments, the automated freeze-drying method further includes using a robot 15 to transfer a labeled container containing the sample to be freeze-dried to a weighing module 16 / 18 for weighing, and the weighing recorder 17 records the weight. This allows the determination of the total weight of the container and the sample before freeze-drying, and thus the weight of the sample before freeze-drying. By comparing the weight of the sample before freeze-drying with the weight of the sample after freeze-drying, the freeze-drying yield of the sample can be determined.

[0056] In some embodiments, the automated freeze-drying method of this disclosure is executed using the aforementioned automated freeze-drying equipment; therefore, the description of the relevant modules can be referenced to the aforementioned automated freeze-drying equipment. In some embodiments, the weighing recorder is positioned adjacent to the weighing module, thus facilitating the convenience and efficiency of weighing and recording. In some embodiments, an outer cover is provided around the weighing module, and an automatically opening and closing outer cover door is provided on the top of the weighing module. The outer cover door automatically opens when material is detected approaching; it automatically closes after the material is placed on the weighing module; and it automatically opens after the weighing of the material is completed. In this disclosure, the purpose of providing an outer cover for the weighing module is to prevent wind and static electricity, and to avoid the accuracy of the balance being affected by the external environment during weighing. In some embodiments, the labeling machine includes a label printing module and a rotary labeling module connected to the label printing module. The rotary labeling module includes an idler wheel, a torsion spring, a horizontal support base, a vertical support base, and a limiting block. The idler wheel is mounted on the horizontal support base and is rotatable relative to the horizontal support base. The horizontal support base and the vertical support base are rotatably connected. The main body of the torsion spring is mounted on the horizontal support base. One extended end of the torsion spring abuts against the limiting block, and the other extended end of the torsion spring abuts against the vertical support base. The limiting block is disposed on the horizontal support base. The structure of the labeling machine can be referred to the description of automated freeze-drying equipment, which will not be repeated here.

[0057] In some embodiments, during automated labeling, a robot grips a container (e.g., a test tube) and moves it to the labeling position on the labeling machine, bringing the container close to the idler wheel. The label printing module dispenses a label with the adhesive side facing the container. The robot then affixes the label to the container, bringing it into contact with the idler wheel. The robot rotates the container horizontally, causing the idler wheel to rotate synchronously, thus completing the labeling process. This achieves fully automated labeling, significantly improving labeling efficiency.

[0058] By setting up a weighing module and a labeling machine, the labeling machine can bind information to the container holding the sample, and then the weighing module can weigh the container and the sample before and after freeze-drying. In this way, the weight change of the freeze-dried sample can be known through the automated freeze-drying equipment disclosed in this invention. Furthermore, the material transfer between the weighing module, labeling machine, and freeze dryer by a robot improves the freeze-drying efficiency and the level of intelligent operation, and greatly reduces the amount of manual intervention.

[0059] The automated freeze-drying equipment disclosed herein can realize automated production, improve the intelligence and information of the production process, facilitate data recording of the production process and improve production efficiency, greatly reduce manual intervention, and realize information management of materials, thereby achieving an unmanned mode of freeze-drying process.

[0060] Furthermore, by setting up a ground rail 7, the robot 15 is positioned to move along the ground rail 7. This reduces the problem of interference and collision between the stationary robot and the modules during operation without compromising the compactness of the automated freeze-drying equipment, because the robot 15 moves to the appropriate position on the ground rail 7 before performing operations. Additionally, this reduces the operational complexity of the robot 15, as it can interact with various modules at a closer distance. Therefore, the automated freeze-drying equipment of this disclosure improves work efficiency and reduces labor costs. The ground rail 7 reduces the possibility of interference and collision between the robot 15 and the processing modules, thereby expanding the freedom of positioning various modules and further improving material transfer efficiency. Moreover, the labeling machine of this disclosure can automatically label containers (e.g., test tubes), thereby facilitating intelligent information management and improving freeze-drying efficiency.

[0061] Those skilled in the art should understand that the above embodiments are merely exemplary embodiments, and various changes, substitutions, and modifications can be made without departing from the spirit and scope of this disclosure.

Claims

1. An automated freeze-drying device, characterized in that, include: frame; A freeze dryer, mounted on the rack and used for freeze-drying samples; The intelligent operation module is mounted on the rack; The intelligent operation module includes a ground rail, a robot, a weighing module, and a labeling machine. The robot is mounted on the ground rail and can move along the ground rail to transport materials. The weighing module is used to weigh the materials, which include the sample and its container. The labeling machine is used to identify the container of the sample to record and / or track information about the container and the sample.

2. The automated freeze-drying equipment according to claim 1, characterized in that, The intelligent operation module also includes an exchange compartment and a positioning QR code for locating external mobile devices. The positioning QR code includes two electronic QR codes located on both sides of the exchange compartment.

3. The automated freeze-drying equipment according to claim 1, characterized in that, The intelligent operation module also includes a tool rack and a temporary test tube rack located adjacent to the exchange chamber. The tool rack is used to hold at least one of the following: tray grippers, concentration bottle grippers, and test tube grippers.

4. The automated freeze-drying equipment according to claim 3, characterized in that, The robot is equipped with a first quick-change connector, and the tray gripper, the concentration bottle gripper and / or the test tube gripper are equipped with a second quick-change connector. The first quick-change connector and the second quick-change connector are matched and detachably connected.

5. The automated freeze-drying equipment according to claim 3, characterized in that, The weighing module and the temporary test tube rack are respectively installed on both sides of the ground rail.

6. The automated freeze-drying equipment according to claim 1, characterized in that, The intelligent operation module also includes a weighing recorder adjacent to the weighing module, which is used to identify the material being weighed and record the weight of the corresponding material.

7. The automated freeze-drying equipment according to claim 1, characterized in that, The weighing module is surrounded by an outer cover, and the top of the weighing module is equipped with an automatically opening and closing outer cover door. When material is detected approaching, the outer cover door opens automatically; after the material is placed on the weighing module, the outer cover door closes automatically; and after the weighing of the material is completed, the outer cover door opens automatically.

8. The automated freeze-drying equipment according to claim 1, characterized in that, The labeling machine includes a label printing module and a rotary labeling module connected to the label printing module. The rotary labeling module includes an idler wheel, a torsion spring, a horizontal support base, a vertical support base, and a limiting block. The idler wheel is mounted on the horizontal support base and can rotate relative to the horizontal support base. The horizontal support base and the vertical support base are rotatably connected. The main body of the torsion spring is mounted on the horizontal support base. One side of the torsion spring extends into contact with the limiting block, and the other side of the torsion spring extends into contact with the vertical support base. The limiting block is disposed on the horizontal support base.

9. The automated freeze-drying equipment according to claim 1, characterized in that, The intelligent operation module also includes a labeling tube rack, a labeling barcode scanner, and a labeling tube transfer station adjacent to the labeling machine. The labeling tube rack and the labeling tube transfer station are used to receive tubes to be labeled or tubes that have already been labeled. The labeling barcode scanner is used to bind information to the labeling tubes.

10. The automated freeze-drying equipment according to claim 1, characterized in that, The weighing module includes a 1 / 1000 balance and / or a 1 / 10,000 balance.

11. The automated freeze-drying equipment according to claim 1, characterized in that, The robot is equipped with an image recognition module to facilitate its positioning and operation.

12. An automated preparation system, characterized in that, The automated preparation system includes a mobile device and an automated freeze-drying device according to any one of claims 1 to 11, wherein the mobile device is used to pick up and put down materials in the exchange chamber of the automated freeze-drying device.

13. An automated freeze-drying method, characterized in that, include: Receive the sample to be freeze-dried and the container for holding the sample to be freeze-dried; The container is transferred to a labeling machine by a robot for automatic labeling. Information is bound to the labeling container using a labeling barcode scanner; The robot transfers the labeled container to the weighing module for weighing, and the weighing is recorded by the weighing recorder. The robot transfers the sample to be freeze-dried into the labeling container. The robot transfers the labeled container containing the sample to be freeze-dried to a freeze dryer for freeze-drying. The robot transfers the freeze-dried labeled container to the weighing module for weighing, and the weighing recorder records the weight.

14. The automated freeze-drying method according to claim 13, characterized in that, Also includes: Before freeze-drying, the labeling container containing the sample to be freeze-dried is transferred to the weighing module by the robot for weighing, and the weighing recorder records the weight.

15. The automated freeze-drying method according to claim 13, characterized in that, The weighing recorder is positioned adjacent to the weighing module.

16. The automated freeze-drying method according to claim 13, characterized in that, The weighing module is surrounded by an outer cover, and the top of the weighing module is equipped with an automatically opening and closing outer cover door. When material is detected approaching, the outer cover door opens automatically; after the material is placed on the weighing module, the outer cover door closes automatically; and after the weighing of the material is completed, the outer cover door opens automatically.

17. The automated freeze-drying method according to claim 13, characterized in that, The labeling machine includes a label printing module and a rotary labeling module connected to the label printing module. The rotary labeling module includes an idler wheel, a torsion spring, a horizontal support base, a vertical support base, and a limiting block. The idler wheel is mounted on the horizontal support base and can rotate relative to the horizontal support base. The horizontal support base and the vertical support base are rotatably connected. The main body of the torsion spring is mounted on the horizontal support base. One side of the torsion spring extends into contact with the limiting block, and the other side of the torsion spring extends into contact with the vertical support base. The limiting block is disposed on the horizontal support base.

18. The automated freeze-drying method according to claim 17, characterized in that, During the automatic labeling process, the robot grips the container and moves it to the labeling position of the labeling machine, bringing the container close to the idler wheel. The label printing module then dispenses the label with the adhesive side facing the container. The robot affixes the label to the container, bringing it into contact with the idler wheel. The robot rotates the container horizontally, causing the idler wheel to rotate synchronously, thus completing the labeling process.

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