An automated docking device

Abstract

The application discloses an automatic docking device, comprising a working space, a plurality of equipment rooms arranged in the working space, a docking storage device arranged in the equipment room, and at least one transfer robot arranged in the working space. The transfer robot can dock with the plurality of docking storage devices for sample transfer. The docking storage device can access, pick and transfer the sample. The docking transmission assembly can be docked with the operation cabin assembly and the transfer robot respectively. The first sealing element is opened, and the second sealing element is sealed. The first transmission port or the side end docking port is always in a sealed state, so that the whole process is free of opening, cold and heat exchange, and temperature fluctuation. The device adopts an upper moving operation mechanism to slide and dock with a plurality of storage mechanisms, thereby saving the cost of the operation cabin and improving the efficiency.

Description

Technical Field

[0001] This invention relates to the field of sample storage technology, and in particular to an automated docking device. Background Technology

[0002] In existing technologies, sample storage involves manually or using transport robots to transfer transport boxes containing biological samples from a location to the storage device. The transport boxes are then transferred to the operating chamber via a pass-through window. However, for sample storage devices, each storage device is equipped with an operating chamber, which makes it easier to pick up and store the transferred samples. However, this increases manufacturing costs and reduces the efficiency of storing and retrieving biological samples. In addition, current sample storage devices are susceptible to liquid nitrogen evaporation and temperature fluctuations during docking, which can cause biological samples to lose their activity.

[0003] To address this, the inventors designed an automated docking device. 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 an automated docking device that ensures that the sample is never exposed during transport, there is no heat exchange, and temperature fluctuations are avoided, thus ensuring that the sample does not lose its activity. At the same time, this device uses an upper moving operating mechanism that can slide and dock with multiple sets of storage mechanisms, saving operating chamber costs while improving efficiency. Furthermore, the upper moving operating mechanism can dock and access two sets of storage mechanisms simultaneously, greatly improving work efficiency.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an automated docking device, which includes a workspace, multiple sets of equipment rooms are arranged in the workspace, docking storage devices are arranged in the equipment rooms, and at least one set of transfer robots are also arranged in the workspace. The transfer robots can perform sample transfer docking with the multiple sets of docking storage devices, and the docking storage devices can store, retrieve, pick tubes and transfer samples. The docking storage device includes an upper moving operating mechanism and a storage mechanism; the storage mechanism is configured in multiple groups, and the upper moving operating mechanism can move and dock with multiple groups of storage mechanisms; the storage mechanism can store samples, and the upper moving operating mechanism can grab and pick up samples from the storage mechanism.

[0008] As a preferred embodiment of the automated docking device of the present invention, the upper moving operation mechanism includes an operation cabin component and a docking and transmission component; the operation cabin component is provided with a docking and transmission component, one side of the docking and transmission component can communicate with the interior of the operation cabin component, and the other side of the docking and transmission component can dock with the transfer robot.

[0009] As a preferred embodiment of the automated docking device of the present invention, the docking and transmission component includes a docking chamber, a first sealing element and a second sealing element. A first transmission port is provided on the upper end of the docking chamber and on the operating chamber component. The first sealing element can seal the first transmission port. A side end docking interface is provided on one side of the docking chamber. A second sealing element is provided inside the side end docking interface. The second sealing element can seal the side end docking interface.

[0010] As a preferred embodiment of the automated docking device of the present invention, the docking compartment is further provided with a transfer component, which can move horizontally and receive or transport the target object.

[0011] As a preferred embodiment of the automated docking device of the present invention, when the transfer component docks with the transfer robot, the first sealing component and the second sealing component can respectively open or seal the first transmission port and the side end interface.

[0012] In a preferred embodiment of the automated docking device of the present invention, after the transfer member receives the target member, the second sealing member seals the interface on the side end, the first sealing member opens the first transmission port, and the operation chamber assembly can transfer the target member in the docking chamber through the first transmission port.

[0013] As a preferred embodiment of the automated docking device of the present invention, the upper moving operation mechanism further includes a guide rail assembly and a lifting assembly; the lifting assembly is slidably disposed on the guide rail assembly, the lifting assembly can lift the operation cabin assembly and slide on the guide rail assembly, and the operation cabin assembly can dock with multiple sets of storage mechanisms.

[0014] As a preferred embodiment of the automated docking device of the present invention, an auxiliary docking component is also provided on one side of the operating cabin component, which can provide buffering when the operating cabin component docks with the storage mechanism.

[0015] In a preferred embodiment of the automated docking device of the present invention, the auxiliary docking component includes a drive module and an auxiliary guard plate; the drive module is connected to one side of the operating cabin component, the auxiliary guard plate is disposed on the drive module, and the drive module can drive the auxiliary guard plate to rise and fall.

[0016] As a preferred embodiment of the automated docking device of the present invention, the operation cabin component includes an upper cabin body, on which at least two operation channels are provided; multiple operation channels dock with multiple storage mechanisms, and multiple sets of gripping mechanisms are provided inside the upper cabin body, which can access and retrieve samples from the storage mechanisms through the operation channels.

[0017] As a preferred embodiment of the automated docking device of the present invention, the gripping mechanism includes a moving shaft assembly, on which a dual drive assembly is provided. The moving shaft assembly can drive the dual drive assembly to move within the upper chamber body, and the dual drive assembly can vertically lift and lower to grip the sample.

[0018] As a preferred embodiment of the automated docking device of the present invention, the upper compartment body is provided with a gripping mechanism, a shovel mechanism, a lifting extraction mechanism, and a lid opening mechanism; the lifting extraction mechanism and the lid opening mechanism are symmetrically arranged on both sides of the gripping mechanism, and a shovel mechanism is provided on one side of the gripping mechanism. The lid opening mechanism can grip and move the lid in the operating channel, the lifting extraction mechanism can grip the sample in the storage mechanism, the shovel mechanism can shovel the sample on the lifting extraction mechanism, and the gripping mechanism can pick the sample on the shovel mechanism.

[0019] As a preferred embodiment of the automated docking device of the present invention, the upper compartment body is provided with a first operating compartment and a first storage and retrieval operating compartment; the first storage and retrieval operating compartments are provided on both sides of the first operating compartment; the gripping mechanism and the shovel mechanism are provided in the first operating compartment, the lifting and extraction mechanism and the opening mechanism are provided in the first storage and retrieval operating compartment, and the operating channel is provided in the first storage and retrieval operating compartment.

[0020] In a preferred embodiment of the automated docking device of the present invention, the gripping mechanism includes a drive shaft assembly, on which gripping components and suction components are provided; the drive shaft assembly can drive the gripping components and suction components to move horizontally, the gripping components can grip the plate frame, and the suction components can suction and pick up the sample tubes.

[0021] As a preferred embodiment of the automated docking device of the present invention, multiple sets of storage mechanisms are provided on both sides of the guide rail assembly, and the operation cabin assembly can dock two sets of storage mechanisms simultaneously.

[0022] The beneficial effects of this invention are as follows: When the docking and transmission component docks with the operating cabin component and the transfer robot, the first seal is opened while the second seal is closed, ensuring that one of the first transmission port or side-end interfaces is always sealed, thus achieving a completely open process, no heat exchange, and no temperature fluctuations. This device uses an upper moving operating mechanism that can slide and dock with multiple sets of storage mechanisms, saving operating cabin costs while improving efficiency. Furthermore, the upper moving operating mechanism can simultaneously dock and access two sets of storage mechanisms, significantly improving work efficiency. Attached Figure Description

[0023] 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 This is a schematic diagram illustrating the application scenario of an automated docking device.

[0024] Figure 2 This is a schematic diagram of another application scenario for automated docking devices.

[0025] Figure 3 This is a three-dimensional schematic diagram of an automated docking device.

[0026] Figure 4 This is a schematic diagram of an automated docking device from another perspective.

[0027] Figure 5 A three-dimensional schematic diagram of the auxiliary docking components for an automated docking device.

[0028] Figure 6 This is a schematic diagram of the interior of the upper compartment of the automated docking device.

[0029] Figure 7 A three-dimensional schematic diagram of the lifting and extraction mechanism of the automated docking device.

[0030] Figure 8 This is a schematic diagram of the internal structure of the lifting and extraction mechanism of the automated docking device.

[0031] Figure 9 This is a three-dimensional schematic diagram of the guide rail assembly of an automated docking device.

[0032] Figure 10 This is a schematic diagram of the interior of the first operating compartment of the automated docking device.

[0033] Figure 11 This is a three-dimensional schematic diagram of the shovel mechanism of an automated docking device.

[0034] Figure 12 This is a three-dimensional schematic diagram of the gripping mechanism of an automated docking device.

[0035] Figure 13 A three-dimensional schematic diagram of the dual-drive components of an automated docking device.

[0036] Figure 14 A three-dimensional schematic diagram of the docking and transmission components of an automated docking device.

[0037] Figure 15 Another perspective schematic diagram of the dual-drive components of the automated docking device.

[0038] Figure 16 Another implementation of the gripping mechanism for an automated docking device.

[0039] Figure 17 A three-dimensional schematic diagram of the second storage component of the automated docking device.

[0040] Figure 18 A three-dimensional schematic diagram of the first storage component of the automated docking device.

[0041] Reference numerals: Workspace, Q; Equipment room, Y; Docking storage device, 3; Transfer robot, 4; Upper moving operating mechanism, 1; Storage mechanism, 2; Operating cabin assembly, 11; Docking and transfer assembly, 12; Docking cabin, 121; First seal, 122; Second seal, 123; Side end docking interface, 124; Transfer component, 125; Guide rail assembly, 13; Lifting assembly, 14; Auxiliary docking component, 15; Drive module, 151; Auxiliary guard plate, 152; Upper compartment body, 111; Grabbing mechanism, 112; Moving shaft assembly, 1121; Dual drive assembly, 1122; Shovel mechanism, 113; Lifting and extraction mechanism, 114; Opening mechanism. 115; First operating chamber, 1111; First storage and retrieval operating chamber, 1112; Drive shaft assembly, 1123; Gripping component, 1124; Suction component, 1125; Storage mechanism, 2; Shovel assembly, 1131; Cold insulation component, 1132; First drive module, 11221; Chain, 11222; Chain frame, 11223; Gripper, 11224; Storage compartment, 11225; Liquid nitrogen tank, 211; Sample tube turntable, 212; Sample tube turntable driver, 213; Liquid nitrogen tank cover, 214; Second liquid nitrogen tank, 221; Second liquid nitrogen tank cover, 222; Aluminum disc rotating frame, 223; Aluminum disc, 224; Aluminum disc frame driver, 225; Detailed Implementation

[0042] 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.

[0043] 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.

[0044] 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. Example 1

[0045] Reference Figures 1-12 This is the first embodiment of the present invention. This embodiment provides an automated docking device, which includes a workspace Q, a device room Y, a docking storage device 3, and a transfer robot 4. By setting multiple sets of device rooms Y in the workspace Q, each device room is equipped with a docking storage device 3. The transfer robot 4 can dock with the docking storage device 3 and use the docking storage device 3 to perform tasks such as sample storage, tube picking, and transfer.

[0046] Specifically, it includes a workspace Q, which contains multiple sets of equipment rooms Y, each containing a docking storage device 3. The workspace Q also contains at least one set of transfer robots 4, which can dock with multiple sets of docking storage devices 3 for sample transfer. The docking storage devices 3 can store, retrieve, pick up, and transfer samples. The docking storage device 3 includes an upper moving operating mechanism 1 and a storage mechanism 2; the storage mechanism 2 is configured as multiple sets, and the upper moving operating mechanism 1 can move and dock with multiple sets of storage mechanisms 2; the storage mechanism 2 can store samples, and the upper moving operating mechanism 1 can grab and pick up samples from the storage mechanism 2.

[0047] It should be noted that the workspace Q is equipped with multiple channels, through which multiple transfer robots 4 can move within the channels to enter the equipment room Y and dock with the storage device 3 to realize the transport of the transfer tank.

[0048] Furthermore, the upper moving operation mechanism 1 includes an operation cabin assembly 11 and a docking and transmission assembly 12; the operation cabin assembly 11 is provided with the docking and transmission assembly 12, one side of the docking and transmission assembly 12 can communicate with the interior of the operation cabin assembly 11, and the other side of the docking and transmission assembly 12 can dock with the transfer robot 4.

[0049] Preferably, the docking and transmission component 12 can dock with the upper mobile operating mechanism 1 and the transfer robot 4 respectively.

[0050] Preferably, by setting up the docking and transmission component 12, it is possible to achieve no openness throughout the sample transmission process, thus avoiding the situation where liquid nitrogen evaporates and temperature fluctuates in the operation chamber component 11 during sample transfer.

[0051] Furthermore, the docking and transmission assembly 12 includes a docking compartment 121, a first seal 122, and a second seal 123. The upper end of the docking compartment 121 and the operating compartment assembly 11 are both provided with a first transmission port. The first seal 122 can seal the first transmission port. A side end docking interface 124 is provided on one side of the docking compartment 121. A second seal is provided inside the side end docking interface 124. The second seal can seal the side end docking interface 124.

[0052] Preferably, the side of the docking compartment 121 is provided with a side-end docking interface 124; and a second sealing element 123 is provided in the side-end docking interface 124, which can be opened or sealed by rotating the second sealing element 123.

[0053] Preferably, the upper surface of the docking compartment 121 is provided with a first transmission port, and a first sealing element 122 is provided inside the first transmission port. The first sealing element 122 can be used to open or seal the first transmission port.

[0054] It should be noted that the first seal 122 and the second seal 123 are set as motor-driven sealing doors, so that the side end interface 124 and the first transmission port can be sealed when rotating.

[0055] Furthermore, the docking compartment 121 is also equipped with a transfer component 125, which can move horizontally and receive or transport target objects.

[0056] It should be noted that the transfer component 125 adopts belt drive to drive the transfer plate to move horizontally, receive or transport the target component, which can be a transfer container or other target biological sample container. Furthermore, when the transfer component 125 docks with the transfer robot 4, the first sealing component 122 and the second sealing component 123 can open or seal the first transfer port and the side end interface 124 respectively.

[0057] Furthermore, after the transfer member 125 receives the target component, the second seal member 123 seals the side end of the interface 124, and the first seal member 122 opens the first transmission port. The operation cabin assembly 11 can transfer the target component in the docking cabin 121 through the first transmission port.

[0058] It should be noted that when receiving a target transport container, the second seal 123 is first opened, making the side interface 124 open. The transfer component 125 is used to move horizontally to receive the target transport container, and then the target transport container is moved into the docking chamber 121. Next, the second seal 123 closes the side interface 124, making the side interface 124 sealed. Then, the first seal 122 opens the first transmission port, allowing the docking chamber 121 to communicate with the inside of the operation chamber assembly 11 through the first transmission port. The operation chamber assembly 11 is used to grab the transport container in the docking chamber 121 to realize the transfer of the sample. Similarly, when transporting samples outward, the first transmission port and the side interface 124 need to be opened in sequence. This ensures that there are no open openings, no heat exchange, and the cold chain is uninterrupted throughout the sample transport docking process. This avoids defects such as liquid nitrogen evaporation, temperature fluctuations, and biological sample inactivation caused by open docking.

[0059] Furthermore, the upper moving operating mechanism 1 also includes a guide rail assembly 13 and a lifting assembly 14; the lifting assembly 14 is slidably disposed on the guide rail assembly 13, the lifting assembly 14 can lift the operating cabin assembly 11 and slide on the guide rail assembly 13, and the operating cabin assembly 11 can dock with multiple sets of storage mechanisms 2.

[0060] Preferably, the lifting component 14 can slide on the guide rail component 13, and the lifting component 14 can drive the operation cabin component 11 to rise and fall. The lifting component 14 can drive the operation cabin component 11 to rise and slide on the guide rail component 13, thereby enabling the operation cabin component 11 to dock with other storage mechanisms 2. This allows one operation cabin component 11 to dock with multiple sets of storage mechanisms 2, reducing costs and improving work efficiency.

[0061] Furthermore, an auxiliary docking component 15 is also provided on one side of the operating cabin assembly 11, which can provide cushioning when the operating cabin assembly 11 docks with the storage mechanism 2.

[0062] Furthermore, the auxiliary docking component 15 includes a drive module 151 and an auxiliary guard plate 152; the drive module 151 is connected to one side of the operating cabin component 11, and the auxiliary guard plate 152 is disposed on the drive module 151, and the drive module 151 can drive the auxiliary guard plate 152 to rise and fall.

[0063] Preferably, the drive module 151 can assist the guard plate 152 in raising and lowering to a certain extent, thereby allowing the operating cabin assembly 11 to descend slowly.

[0064] Preferably, when the operating cabin assembly 11 is descending and docking with the storage mechanism 2, the auxiliary docking component 15 can prevent rapid descent, thereby allowing the docking interface of the operating cabin assembly 11 and the docking interface of the storage mechanism 2 to dock slowly, avoiding docking failure and damage to the equipment during rapid descent.

[0065] Furthermore, the operating cabin assembly 11 includes an upper cabin body 111, which has at least two operating channels; multiple operating channels are connected to multiple storage mechanisms 2, and multiple sets of gripping mechanisms 112 are installed inside the upper cabin body 111. The gripping mechanisms 112 can access and retrieve samples from the storage mechanisms 2 through the operating channels.

[0066] Furthermore, the upper compartment body 111 is equipped with a gripping mechanism 112, a shovel mechanism 113, a lifting extraction mechanism 114, and a lid opening mechanism 115. The lifting extraction mechanism 114 and the lid opening mechanism 115 are symmetrically arranged on both sides of the gripping mechanism 112. The shovel mechanism 113 is provided on one side of the gripping mechanism 112. The lid opening mechanism 115 can grip and move the lid in the operating channel. The lifting extraction mechanism 114 can grip the sample in the storage mechanism 2. The shovel mechanism 113 can shovel the sample on the lifting extraction mechanism 114. The gripping mechanism 112 can pick up the sample on the shovel mechanism 113.

[0067] Preferably, the can lid can be grabbed and moved aside by the lid opening mechanism 115; the sample in the storage mechanism 2 can be grabbed and lifted by the lifting extraction mechanism 114, and the plate frame of the lifting extraction mechanism 114 can be scooped by the shovel mechanism 113; the target sample can be grabbed by the grabbing mechanism 112, and the sample on the shovel mechanism 113 can be picked up.

[0068] Furthermore, the upper compartment body 111 has a first operating compartment 1111 and a first storage and retrieval operating compartment 1112 inside; the first operating compartment 1111 has first storage and retrieval operating compartments 1112 on both sides; the gripping mechanism 112 and the shovel mechanism 113 are located in the first operating compartment 1111, the lifting and extraction mechanism 114 and the opening mechanism 115 are located in the first storage and retrieval operating compartment 1112, and the operating channel is located inside the first storage and retrieval operating compartment 1112.

[0069] Preferably, each of the two first access control compartments 1112 is equipped with a lifting and extraction mechanism 114 and a cover opening mechanism 115, and each is equipped with an operation channel, thereby enabling rapid simultaneous docking with the two sets of storage mechanisms 2, which greatly improves the efficiency of access.

[0070] It should be noted that by setting the shovel mechanism 113 into two sets, the two sets of shovel mechanisms 113 can respectively grab the plate frame on the two sets of lifting and extraction mechanisms 114, thereby quickly realizing the shoveling work, realizing simultaneous work, and improving the efficiency of storage and retrieval.

[0071] It should be noted that the shovel assembly 1131 is also equipped with a pipe-picking workbench, which can be used to temporarily place the plate frame, and the shovel assembly 1131 can place the shoveled plate frame onto the pipe-picking workbench.

[0072] It should be noted that the shovel mechanism 113 includes a shovel assembly 1131 and a cold-keeping assembly 1132; the shovel assembly 1131 is equipped with a cold-keeping assembly 1132, which uses liquid nitrogen tubes to keep the sample warm and cold, so that the sample can be kept cold during the tube picking process, avoiding temperature changes in the sample during the tube picking process, which would cause the sample to lose its activity.

[0073] Furthermore, the gripping mechanism 112 includes a drive shaft assembly 1123, on which a gripping component 1124 and a suction component 1125 are provided; the drive shaft assembly 1123 can drive the gripping component 1124 and the suction component 1125 to move horizontally, the gripping component 1124 can grip the plate frame, and the suction component 1125 can suction and pick up the sample tube.

[0074] Preferably, the drive shaft assembly 1123 can drive the gripping component 1124 and the suction component 1125 to move horizontally, including being able to move in the X and Y directions; the gripping component 1124 and the suction component 1125 can be moved vertically, thereby achieving movement in three axes.

[0075] Furthermore, multiple sets of storage mechanisms 2 are provided on both sides of the guide rail assembly 13, and the operation cabin assembly 11 can dock with two sets of storage mechanisms 2 simultaneously.

[0076] In summary, when the docking and transmission component 12 docks with the operation cabin component 11 and the transfer robot 4, the first seal 122 is opened while the second seal 123 is sealed, ensuring that one of the first transmission port or side-end interface 124 is always sealed. This achieves a completely open process with no heat exchange and no temperature fluctuations. The device uses an upper moving operation mechanism 1 to slide and dock with multiple sets of storage mechanisms 2, saving operation cabin costs while improving efficiency. Furthermore, the upper moving operation mechanism 1 can simultaneously dock and access two sets of storage mechanisms 2, significantly improving work efficiency. Example 2

[0077] Reference Figures 13-16This is the second embodiment of the present invention. Based on embodiment 1, the automated docking device further includes a workspace Q, a device room Y, a docking storage device 3, and a transfer robot 4. By setting up multiple sets of device rooms Y in the workspace Q, each device room is equipped with a docking storage device 3. The transfer robot 4 can dock with the docking storage device 3 and use the docking storage device 3 to perform tasks such as storing, picking tubes, and transferring samples.

[0078] Specifically, it includes a workspace Q, which contains multiple sets of equipment rooms Y, each containing a docking storage device 3. The workspace Q also contains at least one set of transfer robots 4, which can dock with multiple sets of docking storage devices 3 for sample transfer. The docking storage devices 3 can store, retrieve, pick up, and transfer samples. The docking storage device 3 includes an upper moving operating mechanism 1 and a storage mechanism 2; the storage mechanism 2 is configured as multiple sets, and the upper moving operating mechanism 1 can move and dock with multiple sets of storage mechanisms 2; the storage mechanism 2 can store samples, and the upper moving operating mechanism 1 can grab and pick up samples from the storage mechanism 2.

[0079] It should be noted that the workspace Q is equipped with multiple channels, through which multiple transfer robots 4 can move within the channels to enter the equipment room Y and dock with the storage device 3 to realize the transport of the transfer tank.

[0080] Furthermore, the upper moving operation mechanism 1 includes an operation cabin assembly 11 and a docking and transmission assembly 12; the operation cabin assembly 11 is provided with the docking and transmission assembly 12, one side of the docking and transmission assembly 12 can communicate with the interior of the operation cabin assembly 11, and the other side of the docking and transmission assembly 12 can dock with the transfer robot 4.

[0081] Preferably, the docking and transmission component 12 can dock with the upper mobile operating mechanism 1 and the transfer robot 4 respectively.

[0082] Preferably, by setting up the docking and transmission component 12, it is possible to achieve no openness throughout the sample transmission process, thus avoiding the situation where liquid nitrogen evaporates and temperature fluctuates in the operation chamber component 11 during sample transfer.

[0083] Furthermore, the docking and transmission assembly 12 includes a docking compartment 121, a first seal 122, and a second seal 123. The upper end of the docking compartment 121 and the operating compartment assembly 11 are both provided with a first transmission port. The first seal 122 can seal the first transmission port. A side end docking interface 124 is provided on one side of the docking compartment 121. A second seal is provided inside the side end docking interface 124. The second seal can seal the side end docking interface 124.

[0084] Preferably, the side of the docking compartment 121 is provided with a side-end docking interface 124; and a second sealing element 123 is provided in the side-end docking interface 124, which can be opened or sealed by rotating the second sealing element 123.

[0085] Preferably, a first transmission port is provided on the upper surface of the docking compartment 121, and a first sealing element 122 is provided inside the first transmission port. The first transmission port can be opened or sealed through the first sealing element 122.

[0086] It should be noted that the first seal 122 and the second seal 123 are set as motor-driven sealing doors, so that the side end interface 124 and the first transmission port can be sealed when rotating.

[0087] Furthermore, the docking compartment 121 is also equipped with a transfer component 125, which can move horizontally and receive or transport target objects.

[0088] It should be noted that the transfer component 125 adopts belt drive to drive the transfer plate to move horizontally, receive or transport the target component, which can be a transfer container or other target biological sample container. Furthermore, when the transfer component 125 docks with the transfer robot 4, the first sealing component 122 and the second sealing component 123 can open or seal the first transfer port and the side end interface 124 respectively.

[0089] Furthermore, after the transfer member 125 receives the target component, the second seal member 123 seals the side end of the interface 124, and the first seal member 122 opens the first transmission port. The operation cabin assembly 11 can transfer the target component in the docking cabin 121 through the first transmission port.

[0090] It should be noted that when receiving a target transport container, the second seal 123 is first opened, making the side interface 124 open. The transfer component 125 is used to move horizontally to receive the target transport container, and then the target transport container is moved into the docking chamber 121. Next, the second seal 123 closes the side interface 124, making the side interface 124 sealed. Then, the first seal 122 opens the first transmission port, allowing the docking chamber 121 to communicate with the inside of the operation chamber assembly 11 through the first transmission port. The operation chamber assembly 11 is used to grab the transport container in the docking chamber 121 to realize the transfer of the sample. Similarly, when transporting samples outward, the first transmission port and the side interface 124 need to be opened in sequence. This ensures that there are no open openings, no heat exchange, and the cold chain is uninterrupted throughout the sample transport docking process. This avoids defects such as liquid nitrogen evaporation, temperature fluctuations, and biological sample inactivation caused by open docking.

[0091] Furthermore, the upper moving operating mechanism 1 also includes a guide rail assembly 13 and a lifting assembly 14; the lifting assembly 14 is slidably disposed on the guide rail assembly 13, the lifting assembly 14 can lift the operating cabin assembly 11 and slide on the guide rail assembly 13, and the operating cabin assembly 11 can dock with multiple sets of storage mechanisms 2.

[0092] Preferably, the lifting component 14 can slide on the guide rail component 13, and the lifting component 14 can drive the operation cabin component 11 to rise and fall. The lifting component 14 can drive the operation cabin component 11 to rise and slide on the guide rail component 13, thereby enabling the operation cabin component 11 to dock with other storage mechanisms 2. This allows one operation cabin component 11 to dock with multiple sets of storage mechanisms 2, reducing costs and improving work efficiency.

[0093] Furthermore, an auxiliary docking component 15 is also provided on one side of the operating cabin assembly 11, which can provide cushioning when the operating cabin assembly 11 docks with the storage mechanism 2.

[0094] Furthermore, the auxiliary docking component 15 includes a drive module 151 and an auxiliary guard plate 152; the drive module 151 is connected to one side of the operating cabin component 11, and the auxiliary guard plate 152 is disposed on the drive module 151, and the drive module 151 can drive the auxiliary guard plate 152 to rise and fall.

[0095] Preferably, the drive module 151 can assist the guard plate 152 in raising and lowering to a certain extent, thereby allowing the operating cabin assembly 11 to descend slowly.

[0096] Preferably, when the operating cabin assembly 11 is descending and docking with the storage mechanism 2, the auxiliary docking component 15 can prevent rapid descent, thereby allowing the docking interface of the operating cabin assembly 11 and the docking interface of the storage mechanism 2 to dock slowly, avoiding docking failure and damage to the equipment during rapid descent.

[0097] Furthermore, the operating cabin assembly 11 includes an upper cabin body 111, which has at least two operating channels; multiple operating channels are connected to multiple storage mechanisms 2, and multiple sets of gripping mechanisms 112 are installed inside the upper cabin body 111. The gripping mechanisms 112 can access and retrieve samples from the storage mechanisms 2 through the operating channels.

[0098] Furthermore, the gripping mechanism 112 includes a moving shaft assembly 1121, on which a dual drive assembly 1122 is provided. The moving shaft assembly 1121 can drive the dual drive assembly 1122 to move within the upper chamber body 111, and the dual drive assembly 1122 can vertically lift and lower to grip the sample.

[0099] It should be noted that the moving axis assembly 1121 can drive the dual drive assembly 1122 to move horizontally, including the X-axis and Y-axis directions. The moving axis assembly 1121 can drive the dual drive assembly 1122 to move within any range within the upper compartment body 111. The dual drive assembly 1122 can move vertically to grasp the sample.

[0100] It should be noted that the dual-drive assembly 1122 includes a first drive module 11221, a chain 11222, a chain frame 11223, a gripper 11224, and a storage compartment 11225; the first drive module 11221 is connected to the chain 11222, the chain frame 11223 is provided on the outside of the chain 11222, the gripper 11224 is provided at the lower end of the chain frame 11223, and the gripper 11224 is connected to the chain 11222.

[0101] A storage compartment 11225 is provided on one side of the chain frame 11223. A second drive module is provided on the storage compartment 11225. The second drive module can store the chain into the storage compartment 11225.

[0102] It should be noted that the grippers of the dual-drive component 1122 can extract or place samples in a deep cryogenic environment, thus enhancing its adaptability to such environments.

[0103] It should be noted that in this embodiment, the dual-drive component 1122 can also be replaced by the gripping component 1124 and the suction component 1125, so as to adapt to different sample storage and retrieval needs. In summary, this invention allows the docking and transmission component 12 to dock with the operating cabin component 11 and the transfer robot 4, respectively, by opening the first seal 122 and sealing the second seal 123. This ensures that one of the first transmission port or side-end interface 124 is always sealed, thus achieving a completely open, heat-free, and temperature-fluctuation-free process. The dual-drive component 1122 in this device can extract or place samples in deep cryogenic environments, enhancing its adaptability to these environments. The device employs an upper moving operating mechanism 1 that can slide and dock with multiple storage mechanisms 2, saving operating cabin costs while improving efficiency. Furthermore, the upper moving operating mechanism 1 can simultaneously dock and access two storage mechanisms 2, significantly improving work efficiency. Example 3

[0104] Reference Figure 17 , 18This is the second embodiment of the present invention. Based on embodiment 1 or embodiment 2, the automated docking device includes a docking storage device 3, which includes an upper moving operation mechanism 1 and a storage mechanism 2. The storage mechanism 2 is configured as multiple sets, and the upper moving operation mechanism 1 can move and dock with multiple sets of storage mechanisms 2. The storage mechanism 2 can store samples, and the upper moving operation mechanism 1 can grasp and pick up samples from the storage mechanism 2.

[0105] Reference Figure 18 It should be noted that this is the first embodiment of the storage mechanism 2; the storage mechanism 2 includes a first storage component 21, the first storage component 21 includes a liquid nitrogen tank 211, a sample tube turntable 212 is provided inside the liquid nitrogen tank 211, a tank opening is provided on the liquid nitrogen tank 211, a liquid nitrogen tank cover 214 is provided inside the tank opening, a sample tube turntable driver 213 is provided above the liquid nitrogen tank 211, the sample tube turntable driver 213 can drive the sample tube turntable 212 to rotate, and the sample tube turntable 212 can store multiple sets of sample tubes.

[0106] Preferably, the first storage component 21 can cooperate with the dual drive component 1122, which can grab the sample tubes on the sample tube turntable 212 and put them into the upper chamber body 111. Alternatively, the grabbed sample tubes can be placed into the sample tube turntable 212.

[0107] It should be noted that the storage area of ​​the first storage component 21 is a large honeycomb structure, which can store biological samples such as blood bags and large sample tubes.

[0108] Reference Figure 17 It should be noted that this is the second embodiment of the storage mechanism 2; the storage mechanism 2 also includes a second storage component 22, the second storage component 22 includes a second liquid nitrogen tank 221, the second liquid nitrogen tank 221 has a tank opening, a second liquid nitrogen tank cover 222 is provided inside the tank opening, an aluminum disk rotating frame 223 is provided inside the second liquid nitrogen tank 221, an aluminum disk 224 is provided on the aluminum disk rotating frame 223, and an aluminum disk frame driver 225 is provided at the upper end of the second liquid nitrogen tank 221, the aluminum disk frame driver 225 can drive the aluminum disk rotating frame 223 to rotate.

[0109] It should be noted that the lifting and extraction mechanism 114 can lift the aluminum tray 224 into the upper chamber body 111, the shovel mechanism 113 can shovel the sample rack on the aluminum tray 224, and the gripping mechanism 112 can grip and pick up the sample tubes in the tray box on the shovel mechanism 113.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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 automated docking device, characterized in that: The system includes a workspace (Q), which contains multiple sets of equipment rooms (Y), each of which contains a docking storage device (3). The workspace (Q) also contains at least one set of transfer robots (4), which can dock with the multiple sets of docking storage devices (3) to transfer samples. The docking storage devices (3) can store, retrieve, pick up, and transfer samples. The docking storage device (3) includes an upper moving operation mechanism (1) and a storage mechanism (2); the storage mechanism (2) is configured in multiple groups, and the upper moving operation mechanism (1) can be moved to dock with multiple groups of storage mechanisms (2); the storage mechanism (2) can store samples, and the upper moving operation mechanism (1) can grab and pick up the storage mechanism (2); The upper moving operation mechanism (1) includes an operation cabin assembly (11) and a docking and transmission assembly (12); the operation cabin assembly (11) is provided with a docking and transmission assembly (12), one side of the docking and transmission assembly (12) can communicate with the interior of the operation cabin assembly (11), and the other side of the docking and transmission assembly (12) can dock with the transfer robot (4); The docking and transmission assembly (12) includes a docking compartment (121), a first seal (122) and a second seal (123). The upper end of the docking compartment (121) and the operation compartment assembly (11) are provided with a first transmission port. The first seal (122) can seal the first transmission port. A side end docking interface (124) is provided on one side of the docking compartment (121). A second seal is provided inside the side end docking interface (124). The second seal can seal the side end docking interface (124).

2. The automated docking device as described in claim 1, characterized in that: The docking compartment (121) is also equipped with a transfer component (125), which can move horizontally and receive or transport the target object.

3. The automated docking device as described in claim 2, characterized in that: When the transfer component (125) docks with the transfer robot (4), the first sealing component (122) and the second sealing component (123) can open or seal the first transmission port and the side end interface (124) respectively.

4. The automated docking device as described in claim 2, characterized in that: After the transfer member (125) receives the target part, the second seal (123) seals the side end interface (124), and the first seal (122) opens the first transmission port. The operation cabin assembly (11) can transfer the target part in the docking cabin (121) through the first transmission port.

5. The automated docking device as described in claim 1, characterized in that: The upper moving operation mechanism (1) also includes a guide rail assembly (13) and a lifting assembly (14); the lifting assembly (14) is slidably arranged on the guide rail assembly (13), the lifting assembly (14) can lift the operation cabin assembly (11) and slide on the guide rail assembly (13), the operation cabin assembly (11) can dock with multiple sets of storage mechanisms (2).

6. The automated docking device as described in claim 5, characterized in that: An auxiliary docking component (15) is also provided on one side of the operating cabin assembly (11), which can provide buffering when the operating cabin assembly (11) docks with the storage mechanism (2).

7. The automated docking device as described in claim 6, characterized in that: The auxiliary docking component (15) includes a drive module (151) and an auxiliary guard plate (152); the drive module (151) is connected to one side of the operating cabin assembly (11), and the auxiliary guard plate (152) is disposed on the drive module (151), and the drive module (151) can drive the auxiliary guard plate (152) to rise and fall.

8. The automated docking device as described in any one of claims 1 to 7, characterized in that: The operating cabin assembly (11) includes an upper cabin body (111), on which at least two operating channels are provided; multiple operating channels are connected to multiple storage mechanisms (2), and multiple sets of grasping mechanisms (112) are provided inside the upper cabin body (111). The grasping mechanisms (112) can access and retrieve samples from the storage mechanisms (2) through the operating channels.

9. The automated docking device as described in claim 8, characterized in that: The gripping mechanism (112) includes a moving shaft assembly (1121), on which a dual drive assembly (1122) is provided. The moving shaft assembly (1121) can drive the dual drive assembly (1122) to move within the upper chamber body (111), and the dual drive assembly (1122) can vertically lift and lower to grip the sample.

10. The automated docking device as described in claim 8, characterized in that: The upper compartment body (111) is equipped with a gripping mechanism (112), a shovel mechanism (113), a lifting extraction mechanism (114), and a lid opening mechanism (115). The lifting extraction mechanism (114) and the lid opening mechanism (115) are symmetrically arranged on both sides of the gripping mechanism (112). The shovel mechanism (113) is provided on one side of the gripping mechanism (112). The lid opening mechanism (115) can grip and move the lid in the operating channel. The lifting extraction mechanism (114) can grip the sample in the storage mechanism (2). The shovel mechanism (113) can shovel the sample on the lifting extraction mechanism (114). The gripping mechanism (112) can pick the sample on the shovel mechanism (113).

11. The automated docking device as described in claim 10, characterized in that: The upper compartment body (111) has a first operating compartment (1111) and a first access operating compartment (1112) inside; the first access operating compartment (1112) is provided on both sides of the first operating compartment (1111); the grabbing mechanism (112) and the shovel mechanism (113) are provided in the first operating compartment (1111), the lifting and extraction mechanism (114) and the opening mechanism (115) are provided in the first access operating compartment (1112), and the operating channel is provided inside the first access operating compartment (1112).

12. The automated docking device as described in claim 11, characterized in that: The gripping mechanism (112) includes a drive shaft assembly (1123), on which a gripping component (1124) and a suction component (1125) are provided; the drive shaft assembly (1123) can drive the gripping component (1124) and the suction component (1125) to move horizontally, the gripping component (1124) can grip the plate frame, and the suction component (1125) can suction and pick up the sample tube.

13. The automated docking device as described in claim 5, characterized in that: Multiple storage mechanisms (2) are provided on both sides of the guide rail assembly (13), and the operation cabin assembly (11) can dock with two sets of storage mechanisms (2) at the same time.

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