Automated lyophilization storage device

Abstract

The disclosure provides an automatic freeze-drying storage device, which comprises a machine table, a first movable clamping mechanism, a freeze-drying mechanism, a conveying and placing mechanism, a second movable clamping mechanism and a capping mechanism. The first movable clamping mechanism comprises a first driving assembly and a first clamping assembly. The conveying and placing mechanism comprises a placing base, a conveying jig and a storage base. The second movable clamping mechanism comprises a second driving assembly and a second clamping assembly. According to the scheme, the placing carrier loaded with liquid storage tubes is sent into the freeze-drying mechanism by the automatic device to freeze-dry the liquid medicine. After freeze-drying is completed, the placing carrier is taken out and placed on the conveying jig. Then, the capping mechanism is used for capping operation on the liquid storage tubes. Finally, the capped liquid storage tubes are transferred to the freeze storage storage carrier. The whole process does not need manual intervention, effectively shortens the overall time consumption from liquid medicine loading to finished product storage, improves the freeze-drying storage efficiency, and meets the needs of efficient and continuous operation.

Description

Technical Field

[0001] This disclosure relates to the field of automated freeze-drying technology, and in particular to an automated freeze-drying storage device. Background Technology

[0002] Freeze-drying (FDR) is a drying method that removes moisture from materials by utilizing the principle of ice crystal sublimation under low-temperature vacuum conditions. Specifically, this method first freezes the liquid medicine into a solid state, and then, under sterile vacuum conditions, allows the frozen ice crystals to sublimate directly into water vapor, thereby obtaining the dried product. This technology effectively preserves the original biological activity and physicochemical properties of the liquid medicine.

[0003] However, existing freeze-drying production processes still have significant limitations. Current processes rely on manual operation to load containers containing the drug solution into the freeze-drying unit; after the freeze-drying cycle, manual unloading, capping, and transfer for storage are also required. Because the freeze-drying cycle itself is relatively long (e.g., 40-50 minutes), coupled with the logistical delays caused by manual intervention, the overall production process from loading the drug solution to the finished product being stored is time-consuming and fails to meet the current urgent need for efficient and continuous operations in pharmaceutical production. Summary of the Invention

[0004] The purpose of this disclosure is to overcome the shortcomings of the prior art and provide an automated freeze-drying storage device that realizes automated freeze-drying storage and improves freeze-drying efficiency.

[0005] An automated freeze-drying storage device includes: The machine has a freeze-drying chamber and a placement opening, wherein the freeze-drying chamber is connected to the placement opening; The first movable clamping mechanism includes a first driving component and a first clamping component. The first driving component is mounted on the machine base, and the first clamping component is connected to the driving end of the first driving component. A freeze-drying unit is located in the freeze-drying chamber, with the top of the freeze-drying unit facing the placement opening; The transport and placement mechanism includes a placement base, a transport fixture, and a storage base installed on the machine, wherein the storage base is used to place the frozen storage carrier; The second movable clamping mechanism includes a second drive component and a second clamping component. The second drive component is mounted on the machine base, and the second clamping component is connected to one drive end of the second drive component. A capping mechanism is installed on the machine base, and the capping mechanism is used to seal the opening of the liquid storage tube with a tube cap; The first clamping component is used to clamp the placement box containing the liquid storage tube located on the placement base to the freeze-drying mechanism or the transport fixture, and to clamp the placement box after freeze-drying to the transport fixture. The second clamping component is used to clamp the liquid storage tube of the placement box located on the transport fixture to the capping mechanism, and to clamp the liquid storage tube located on the capping mechanism to the cryopreservation container.

[0006] In one embodiment, the first movable clamping mechanism further includes a third clamping component, which is connected to the driving end of the first driving component.

[0007] In one embodiment, the automated freeze-drying storage device further includes a feeding conveying assembly installed on the machine, the feeding conveying assembly being used to receive a conveyor carrying a liquid storage tube, and the third clamping assembly being used to clamp the liquid storage tube on the conveyor to a placement box located on the placement base.

[0008] In one embodiment, the first movable clamping mechanism further includes a fourth clamping component, which is connected to the three driving ends of the first driving component.

[0009] In one embodiment, the automated freeze-drying storage device further includes a return conveyor assembly installed on the machine, the return conveyor assembly being used to convey an empty conveyor carrier, and the fourth clamping assembly being used to clamp the conveyor carrier located on the feed conveyor assembly to the return conveyor assembly.

[0010] In one embodiment, the first drive assembly includes a first direction drive member and a second direction drive member, the first direction drive member is mounted on the machine tool, the second direction drive member is connected to the drive end of the first direction drive member, and the first clamping assembly is connected to the drive end of the second direction drive member.

[0011] In one embodiment, the freeze-drying mechanism includes a freeze-drying chamber and a mounting frame. The mounting frame is connected to the machine base, and the freeze-drying chamber is detachably mounted on the mounting frame. The freeze-drying chamber has a freeze-drying port that communicates with the placement port. The first clamping assembly is used to place a placement container carrying a liquid storage tube located on the placement base into the freeze-drying chamber, and to clamp the freeze-dried placement container to the transport fixture.

[0012] In one embodiment, the second drive component includes a third-direction drive and a fourth-direction drive. The third-direction drive is mounted on the machine tool, the fourth-direction drive is connected to the drive end of the third-direction drive, and the second clamping component is connected to the drive end of the fourth-direction drive.

[0013] In one embodiment, the capping mechanism includes a vibratory feeder, a dispensing rack, a bottle-top component, and a clamping and capping component. The vibratory feeder has a discharge channel, the dispensing rack has a dispensing groove, the discharge channel is connected to the dispensing groove, the clamping and capping component is connected to the two driving ends of the second driving assembly, the bottle-top component has a placement groove, the second clamping assembly is used to clamp the liquid storage tube located in the placement box of the transport fixture to the placement groove, and the clamping and capping component is used to clamp the tube cap located in the dispensing groove to the liquid storage tube located in the placement groove and tighten the tube cap.

[0014] In one embodiment, the sealing mechanism further includes a waste box and a vision detector mounted on the machine, and the dispensing rack also has a termination end, with the acquisition end of the vision detector facing the termination end.

[0015] In one embodiment, the automated freeze-drying storage device further includes a storage rack installed on the machine; the second moving clamping mechanism further includes a fifth clamping component, which is connected to the three driving ends of the second driving component, and the fifth clamping component is used to clamp the freeze-drying storage carrier located on the storage base to the storage rack.

[0016] In one embodiment, the fifth clamping assembly includes a fixed plate, a lifting rod, a lifting drive motor, and a material-picking gripper component. The fixed plate is connected to the three driving ends of the second driving assembly, the lifting drive motor is mounted on the fixed plate, the lifting rod is connected to the driving end of the lifting drive motor, and the material-picking gripper component is connected to the lifting rod.

[0017] The purpose of this disclosure is achieved through the following technical solution: Compared with the prior art, this disclosure has at least the following advantages: This solution uses an automated device to deliver a container carrying the liquid storage tube into the freeze-drying unit for liquid freeze-drying. After freeze-drying, the container is removed and placed in a transport fixture. Subsequently, a capping mechanism seals the liquid storage tube, and finally, the capped tube is transferred to a cryogenic storage container. The entire process requires no manual intervention, effectively shortening the overall time from liquid loading to finished product storage, improving freeze-drying storage efficiency, and meeting the requirements of efficient and continuous operations.

[0018] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of the invention will become apparent from the specification, drawings, and claims. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an automated freeze-drying storage device in one embodiment; Figure 2 for Figure 1 A schematic diagram of the automated freeze-drying storage device shown from a first-view perspective; Figure 3 for Figure 1 A partial structural schematic diagram of the automated freeze-drying storage device shown from another perspective; Figure 4 for Figure 1 The diagram shows the structure of the freeze-drying mechanism in the automated freeze-drying storage device. Figure 5 for Figure 4 An exploded view of part of the freeze-drying mechanism shown; Figure 6 for Figure 1 A partial structural schematic diagram of the automated freeze-drying storage device shown from a third-person perspective; Figure 7 for Figure 6 A partial enlarged view of the automated freeze-drying storage device shown at point A; Figure 8 for Figure 6 A partial magnified view of the automated freeze-drying storage device shown from a first-view perspective; Figure 9 for Figure 1 A partial structural schematic diagram of the automated freeze-drying storage device shown from a fourth-view perspective; Figure 10 for Figure 9 A partial enlarged view of the automated freeze-drying storage device shown at point B; Figure 11 for Figure 1 A partial structural schematic diagram of the automated freeze-drying storage device shown from a fourth-view perspective; Figure 12 for Figure 11 A partial magnified view of the automated freeze-drying storage device shown from one perspective; Figure 13 for Figure 11 A partial structural schematic diagram of the automated freeze-drying storage device shown from another perspective; Figure 14 for Figure 11A partial structural diagram of the sealing mechanism in the automated freeze-drying storage device shown; Figure 15 for Figure 14 A schematic diagram of the top bottle component of the capping mechanism shown; Figure 16 for Figure 1 The diagram shows the structure of the feeding and conveying assembly in the automated freeze-drying storage device.

[0021] Reference numerals: 10, Automated freeze-drying storage device; 100, machine; 100a, freeze-drying chamber; 100b, placement opening; 200. First moving clamping mechanism; 210. First drive assembly; 211. First directional drive component; 212. Second directional drive component; 220. First clamping assembly; 221. First vertical drive component; 2211. First vertical slide rail; 2212. First vertical actuator; 222. Multi-layer telescopic frame; 223. Carrier clamping component; 2231. First clamping actuator; 2232. Carrier gripper; 230. Third clamping assembly; 231. First connecting plate; 232. First vertical actuator; 233. Liquid storage tube gripper component; 2331. Second clamping actuator; 2332. Liquid storage tube clamping plate; 2332a. Clamping groove; 240. Fourth clamping assembly; 241. Second vertical actuator; 242. Carrier gripper component; 2421. Third clamping actuator; 2422. Carrier gripper; 300. Freeze-drying mechanism; 310. Freeze-drying machine housing; 320. Mounting frame; 321. Support base frame; 322. Sliding component; 32201. Slide plate; 32202. Upper linear guide; 32203. Lower linear guide; 32204. Upper slider; 32205. Lower slider; 32206. First upper stop block; 32207. Second upper stop block; 32208. First lower stop block; 32209. Second lower stop block; 32210. Third upper stop block; 32211. Third lower stop block; 323. Support top plate; 324. Limiting baffle; 400. Transport and placement mechanism; 410. Placement base tray; 420. Transport jig; 430. Storage base frame; 440. Placement transfer base tray; 500. Second moving clamping mechanism; 510. Second drive assembly; 511. Third direction drive component; 512. Fourth direction drive component; 513. Second connecting plate; 514. Fifth direction drive component; 520. Second clamping assembly; 530. Fifth clamping assembly; 531. Fixing plate; 532. Lifting rod; 533. Lifting drive motor; 534. Material handling gripper component; 5341. Material handling drive motor; 5342. Gripper body; 600. Capping mechanism; 610. Vibrating plate; 611. Discharge channel; 620. Distributor rack; 621. Distributor trough; 630. Bottle-top component; 6301. Placement slot; 631. Bottle-top platform; 631a. Clearance opening; 632. Bottle-top driver; 633. Pipe pressing block; 634. Pipe detector; 640. Capping and clamping component; 641. Second vertical drive component; 6411. Second vertical slide rail; 6412. Second vertical driver; 642. Connecting frame; 643. Capping and clamping component; 6431. Capping and clamping driver; 6432. Capping rotor; 6433. Capping gripper; 650. Waste box; 660. Vision detector; 700. Feeding conveyor assembly; 710. Feeding conveyor belt; 720. Stopping component; 721. Stopping drive motor; 722. Stopping telescopic block; 730. Barcode scanner; 800. Return conveyor assembly; 900. Storage rack; 2. Frozen storage carrier; 3. Pipe cap; 4. Liquid storage pipe; 5. Placement box; 6. Conveying carrier. Detailed Implementation

[0022] To facilitate understanding of this disclosure, a more complete description will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the present disclosure. However, this disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure.

[0023] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] To better understand the technical solutions and beneficial effects of this disclosure, the following detailed description is provided in conjunction with specific embodiments: An automated freeze-drying storage device 10 according to an embodiment of the present invention includes a machine base 100, a first moving clamping mechanism 200, a freeze-drying mechanism 300, a transport and placement mechanism 400, a second moving clamping mechanism 500, and a sealing mechanism 600.

[0026] Combination Figure 1 , Figure 2 , Figure 3 and Figure 13 As shown, the machine tool 100 has a freeze-drying chamber 100a and a placement opening 100b, and the freeze-drying chamber 100a is connected to the placement opening 100b; the first moving clamping mechanism 200 includes a first driving assembly 210 and a first clamping assembly 220, the first driving assembly 210 is mounted on the machine tool 100, and the first clamping assembly 220 is connected to the driving end of the first driving assembly 210; the freeze-drying mechanism 300 is located in the freeze-drying chamber 100a, and the top of the freeze-drying mechanism 300 faces the placement opening 100b; In one embodiment, such as Figure 1 and Figure 2 As shown, the transport and placement mechanism 400 includes a placement base 410, a transport fixture 420, and a storage base 430 installed on the machine base 100. The storage base 430 is used to place the cryopreservation storage carrier 2. The second moving clamping mechanism 500 includes a second drive assembly 510 and a second clamping assembly 520. The second drive assembly 510 is installed on the machine base 100, and the second clamping assembly 520 is connected to the drive end of the second drive assembly 510. The capping mechanism 600 is installed on the machine base 100 and is used to seal the opening of the liquid storage tube 4 with the tube cap 3. The first clamping component 220 is used to clamp the placement container 5 containing the liquid storage tube 4 located on the placement base 410 into the freeze-drying mechanism 300 or the transport fixture 420, and to clamp the placement container 5 after freeze-drying into the transport fixture 420. Specifically, after all the liquid storage tubes 4 on the placement container 5 are placed, the first clamping component 220 transfers them to the freeze-drying mechanism 300. After freeze-drying is completed, the first clamping component 220 transfers the placement container 5 located in the freeze-drying mechanism 300 to the transport fixture 420; the second... The clamping assembly 520 is used to clamp the liquid storage tube 4 on the placement box 5 located in the transport fixture 420 to the capping mechanism 600, and to clamp the liquid storage tube 4 located in the capping mechanism 600 to the cryopreservation carrier 2. Specifically, the second clamping assembly 520 transfers the liquid storage tube 4 on the placement box 5 located in the transport fixture 420 to the capping mechanism 600 for the capping step of the liquid storage tube 4. After the liquid storage tube 4 is capped, the second clamping assembly 520 transfers the liquid storage tube 4 to the cryopreservation carrier 2 located in the storage base 430.

[0027] In this embodiment, the placement base 410 is used to place the placement container 5 containing the liquid storage tube 4. Some or all of the placement container 5 are used for the freeze-drying step. Specifically, for the liquid storage tube 4 that needs to be freeze-dried, the first clamping component 220 transfers the placement container 5 containing the liquid storage tube 4 into the freeze-drying mechanism 300. For the liquid storage tube 4 that does not need to be freeze-dried, the first clamping component 220 transfers the placement container 5 containing the liquid storage tube 4 to the transport fixture 420. The transport fixture 420 is used to place and transport the placement container 5 after freeze-drying, and the liquid storage tube 4 on the placement container 5 is to be gripped and capped.

[0028] In one specific embodiment, such as Figure 1 and Figure 2 As shown, the first drive assembly 210 is used to drive the first clamping assembly 220 to move in the X and Y axis directions. The first clamping assembly 220 is driven by its own motor to move in the Z axis direction, which allows the first clamping assembly 220 to move in any direction to better clamp and place the carrier 5 to the designated position. The second drive assembly 510 is used to drive the second clamping assembly 520 to move in the X and Y axis directions. The second clamping assembly 520 is driven by its own motor to move in the Z axis direction, which allows the second clamping assembly 520 to move in any direction to better clamp and place the liquid storage tube 4 of the carrier 5 to the designated position.

[0029] In the above embodiments, this solution uses an automated device to feed the placement container 5 containing the liquid storage tube 4 into the freeze-drying unit 300 for liquid freeze-drying. After freeze-drying, the placement container 5 is removed and placed on the transport fixture 420. Subsequently, the sealing mechanism 600 seals the liquid storage tube 4, and finally, the sealed liquid storage tube 4 is transferred to the cryopreservation container 2. The entire process requires no manual intervention, effectively shortening the overall time from liquid loading to finished product storage, improving freeze-drying storage efficiency, and meeting the needs of efficient and continuous operation.

[0030] like Figure 6 , Figure 9 and Figure 10As shown, in one embodiment, the first clamping assembly 220 includes a first vertical driving component 221, a multi-layer telescopic frame 222, and a container clamping component 223. The first vertical driving component 221 is connected to the driving end of the first driving assembly 210, and the multi-layer telescopic frame 222 is connected to the driving end of the first vertical driving component 221, so that the first vertical driving component 221 drives the multi-layer telescopic frame 222 to extend and retract in the Z-axis direction. The container clamping component 223 is connected to the multi-layer telescopic frame 222 and is used to clamp the container 5 containing the liquid storage tube 4 located on the placement base 410 into the freeze-drying mechanism 300 or... The transport fixture 420 and the placement container 5 for clamping the freeze-dried liquid tube 4 are used to transport the liquid tube 4 to the transport fixture 420. For the liquid storage tube 4 that needs to be freeze-dried, the container clamping component 223 puts the placement container 5 containing the liquid storage tube 4 into the freeze-drying mechanism 300. Since the freeze-drying mechanism 300 is located inside the machine tool 100, the multi-layer telescopic frame 222 is used to extend the movement stroke of the container clamping component 223, thereby ensuring that the container clamping component 223 can extend into the freeze-drying mechanism 300 through the placement port 100b, so that the container clamping component 223 can put the placement container 5 containing the liquid storage tube 4 into the freeze-drying mechanism 300 or take it out of the freeze-drying mechanism 300.

[0031] Furthermore, such as Figure 6 and Figure 9 As shown, the first vertical drive component 221 includes a first vertical slide rail 2211 and a first vertical driver 2212. The first vertical slide rail 2211 is connected to the drive end of the first drive assembly 210, and the first vertical driver 2212 is mounted on the first vertical slide rail 2211. The multi-layer telescopic frame 222 is connected to the telescopic drive end of the first vertical driver 2212, so that the multi-layer telescopic frame 222 performs reciprocating telescopic motion on the first vertical slide rail 2211 under the action of the first vertical driver 2212. The first vertical driver 2212 is a servo motor.

[0032] Furthermore, such as Figure 10 As shown, the carrier box clamping component 223 includes a first clamping driver 2231 and a carrier box gripper 2232. The first clamping driver 2231 is mounted on the multi-layer telescopic frame 222, and the carrier box gripper 2232 is connected to the driving end of the first clamping driver 2231, so that the first clamping driver 2231 drives the carrier box gripper 2232 to open or retract, thereby enabling the carrier box gripper 2232 to clamp the carrier box 5. In this embodiment, the outer wall of the carrier box 5 has a clamping groove, so that the end of the carrier box gripper 2232 can abut against the clamping groove of the carrier box 5, preventing the carrier box 5 from detaching from the carrier box gripper 2232.

[0033] like Figure 6As shown, in one embodiment, the first movable clamping mechanism 200 further includes a third clamping component 230, which is connected to the driving ends of the first driving component 210. Further, as... Figure 1 and Figure 2 As shown, the automated freeze-drying storage device 10 also includes a feeding conveying assembly 700 installed on the machine base 100. The feeding conveying assembly 700 is used to receive the conveyor 6 carrying the liquid storage tubes 4, and the third clamping assembly 230 is used to clamp the liquid storage tubes 4 on the conveyor 6 to the placement box 5 located on the placement base 410. The third clamping assembly 230 is used to transfer rows of liquid storage tubes 4 from the conveyor 6 on the feeding conveying assembly 700 to the placement box 5 located on the placement base 410. Compared to transferring the liquid storage tubes 4 individually, transferring rows of liquid storage tubes 4 to the placement box 5 takes less time and is more efficient.

[0034] Furthermore, such as Figure 7 As shown, the third clamping assembly 230 includes a first connecting plate 231, a first vertical drive 232, and a liquid storage tube clamping component 233. The first connecting plate 231 is connected to the two drive ends of the first drive assembly 210. The first vertical drive 232 is mounted on the first connecting plate 231, and the drive end of the first vertical drive 232 is connected to the liquid storage tube clamping component 233, so that the first vertical drive 232 drives the liquid storage tube clamping component 233 to move in the Z-axis direction. The liquid storage tube clamping component 233 is used to clamp the liquid storage tube 4 on the conveyor 6 to the placement box 5 located on the placement base 410. Furthermore, according to its structural features, the liquid storage tube clamping component 233 is only used to clamp the liquid storage tube 4 to a designated location without clamping the conveyor 6, ensuring the accuracy of transferring the liquid storage tube 4. The first vertical drive 232 is a drive cylinder or a drive motor.

[0035] Furthermore, such as Figures 6 to 7 As shown, the liquid storage tube clamp component 233 includes a second clamping actuator 2331 and a liquid storage tube clamping plate 2332, wherein there are two liquid storage tube clamping plates 2332, which are combined with... Figure 8As shown, each liquid storage tube clamp 2332 has a row of clamping grooves 2332a. The clamping grooves 2332a of two liquid storage tube clamps 2332 are arranged opposite each other so that the two clamping grooves 2332a together form a row of clamping grooves to fit the outer wall of various liquid storage tubes 4. The second clamping driver 2331 is connected to the driving end of the first vertical driver 232 so that the first vertical driver 232 is used to drive the second clamping driver 2331 to move in the Z-axis direction. The liquid storage tube clamp 2332 is connected to the driving end of the second clamping driver 2331 so that the second clamping driver 2331 can simultaneously drive the two liquid storage tube clamps 2332 to move apart or towards each other. In this way, when the liquid storage tube 4 is clamped, the first vertical direction driver 232 drives the second clamping driver 2331 to move along the Z-axis direction close to the machine tool 100. The liquid storage tube clamping plate 2332 moves accordingly. After the two liquid storage tube clamping plates 2332 reach the position of the liquid storage tube 4, the second clamping driver 2331 drives the two liquid storage tube clamping plates 2332 to move towards each other so that the two liquid storage tube clamping plates 2332 clamp the row of liquid storage tubes 4 together. The outer peripheral wall of each liquid storage tube 4 abuts against the clamping groove 2332a of the two liquid storage tube clamping plates 2332, so that the two liquid storage tube clamping plates 2332 can clamp the liquid storage tube 4, preventing the liquid storage tube 4 from moving or even falling off the outside of the liquid storage tube clamping plate 2332, ensuring that the liquid storage tube 4 can be transferred to the placement carrier 5 located on the placement base 410, that is, improving the reliability of clamping and transferring the liquid storage tube 4. Among them, two liquid storage tube clamps 2332 form a liquid storage tube clamp.

[0036] In one embodiment, such as Figure 16 As shown, the feeding conveyor assembly 700 includes a feeding conveyor belt 710, a stop component 720, and a barcode scanner 730. Both the stop component 720 and the barcode scanner 730 are mounted on one side of the feeding conveyor belt 710, with the scanning end of the barcode scanner 730 facing the feeding conveyor belt 710. The barcode scanner 730 is used to collect specific information on the conveyor carrier 6 carrying the liquid storage tube 4 to determine whether the conveyor carrier 6 needs to undergo freeze-drying. The stop component 720 is used to stop subsequent conveyor carriers 6 after one conveyor carrier 6 has passed, until the previous conveyor carrier 6 is removed, then the next conveyor carrier 6 is released, and so on, ensuring that the barcode scanner 730 can completely scan the specific information on each conveyor carrier 6. Specifically, the feeding conveyor belt 710 has a conveying termination end, and the barcode scanner 730 is located adjacent to the termination end.

[0037] Furthermore, such as Figure 16As shown, the stop component 720 includes a stop drive 721 and a stop telescopic block 722. The stop drive 721 is installed on one side of the feed conveyor belt 710, and the stop telescopic block 722 is connected to the drive end of the stop drive 721. Thus, when a conveyor 6 is released, the stop drive 721 starts and drives the stop telescopic block 722 to extend above the feed conveyor belt 710 to stop subsequent conveyor 6, thereby ensuring that the barcode scanner 730 can completely scan the specific information on each conveyor 6.

[0038] In another embodiment, such as Figure 6 As shown, the first movable clamping mechanism 200 further includes a fourth clamping component 240, which is connected to the three driving terminals of the first driving component 210. Further, in conjunction with... Figure 1 and Figure 2 As shown, the automated freeze-drying storage device 10 also includes a return conveyor assembly 800 installed on the machine base 100. The return conveyor assembly 800 is used to transport empty conveyor carriers 6, and the fourth clamping assembly 240 is used to clamp the conveyor carriers 6 located on the feeding conveyor assembly 700 to the return conveyor assembly 800. Specifically, after all the liquid storage pipes 4 on the conveyor carrier 6 have been transferred, the fourth clamping assembly 240 transfers the empty conveyor carrier 6 to the return conveyor assembly 800, so that the conveyor carrier 6 is transported to the previous machine position or the starting machine position, thereby ensuring that the conveyor carrier 6 can be reused. It should be noted that the return conveyor assembly 800 is prior art and is only used to transport the empty conveyor carrier 6 back to the previous machine position or the starting machine position, and will not be described in detail here.

[0039] Furthermore, such as Figure 6 and Figure 7As shown, the fourth clamping assembly 240 includes a second vertical drive 241 and a carrier gripper 242. The second vertical drive 241 is mounted on the first connecting plate 231, and the carrier gripper 242 is connected to the drive end of the second vertical drive 241 so that the second vertical drive 241 drives the carrier gripper 242 to move in the Z-axis direction. The carrier gripper 242 is used to grip the conveying carrier 6 located in the feeding conveying assembly 700 to the return conveying assembly 800. Furthermore, the carrier gripper component 242 includes a third gripping driver 2421 and a carrier gripper 2422. The carrier gripper 2422 is connected to the drive end of the third gripping driver 2421, which is connected to the drive end of the second vertical driver 241. This allows the second vertical driver 241 to drive the third gripping driver 2421 to move in the Z-axis direction, and the third gripping driver 2421 to drive the carrier gripper 2422 to open or retract, thereby enabling the carrier gripper 2422 to clamp the conveyor carrier 6. In this embodiment, the outer wall of the conveyor carrier 6 has a gripping anti-slip groove, allowing the end of the carrier gripper 2422 to abut against the gripping groove of the conveyor carrier 6, preventing the conveyor carrier 6 from detaching from the carrier gripper 2422.

[0040] In this embodiment, as Figure 7 As shown, the first vertical direction driver 232 and the second vertical direction driver 241 are respectively disposed on opposite sides of the first connecting plate 231 so that the liquid storage tube clamping component 233 and the carrier clamping component 242 driven by the two will not interfere with each other.

[0041] In one embodiment, such as Figure 2 As shown, the transport and placement mechanism 400 also includes a placement transfer base 440 installed on the machine 100. In this way, when the placement base 410 is full of placement boxes 5, new placement boxes 5 can be added by AGV (Automated Guided Vehicle) or robotic arm.

[0042] like Figure 1 , Figure 2 and Figure 6As shown, in one embodiment, the first driving assembly 210 includes a first direction driving member 211 and a second direction driving member 212. The first direction driving member 211 is mounted on the machine base 100, the second direction driving member 212 is connected to the driving end of the first direction driving member 211, and the first clamping assembly 220 is connected to the driving end of the second direction driving member 212. The first direction driving member 211 is a Y-axis driven gantry, and there are two of them. The second direction driving member 212 is an X-axis driven slide rail. Thus, under the combined driving action of the first direction driving member 211 and the second direction driving member 212, the first clamping assembly 220 can move horizontally, and the first clamping assembly 220 itself can move vertically. In this embodiment, the first connecting plate 231 of the third clamping assembly 230 is connected to the second driving end of the second direction driving member 212, and the fourth clamping assembly 240 is connected to the third driving end of the second direction driving member 212. Specifically, the first vertical driver 2212, the first vertical driver 232, and the second vertical driver 241 are all connected to the driving end of the second direction driving member 212 through the first connecting plate 231, so that the second direction driving member 212 drives the first connecting plate 231 to move in the X-axis direction, thereby simultaneously driving the first vertical driver 2212, the first vertical driver 232, and the second vertical driver 241 to move in the X-axis direction.

[0043] like Figure 3 and Figure 4 As shown, in one embodiment, the freeze-drying mechanism 300 includes a freeze-drying chamber 310 and a mounting frame 320. The mounting frame 320 is connected to the machine base 100. The freeze-drying chamber is detachably mounted on the mounting frame 320. The freeze-drying chamber 310 has a freeze-drying port that communicates with the placement port 100b. The first clamping assembly 220 is used to place the placement container 5 containing the liquid storage tube 4 located on the placement base 410 into the freeze-drying chamber 310, and to clamp the placement container 5 after freeze-drying to the transport fixture 420. In this embodiment, after all the storage tubes 4 have been placed in the carrier 5, for the storage tubes 4 that need to be freeze-dried, the carrier grippers 2232 move under the action of each actuator and, under the action of the first clamping actuator 2231, clamp the carrier 5 and transfer it into the freeze-drying chamber 310. During this process, the multi-layer telescopic frame 222 moves vertically and telescopically under the action of the first vertical actuator 2212 until the carrier grippers 2232 enter the freeze-drying chamber 310. Then, the carrier grippers 2232 open to place the storage tubes 5. For the storage tubes 4 that do not need to be freeze-dried, the carrier grippers 2232 move under the action of each actuator and, under the action of the first clamping actuator 2231, clamp the storage tubes 5 and transfer them to the transport fixture 420 for the next sealing step. This structure can automate the freeze-drying and transport of the storage tubes 4, thereby avoiding the impact of manual intervention on the overall time consumption.

[0044] Furthermore, such as Figure 4 As shown, the mounting frame 320 includes a support base 321, a sliding component 322, and a support top plate 323. The support base 321 is installed inside the machine base 100. The sliding component 322 is movably connected to the support base 321 and the support top plate 323 respectively. The freeze dryer housing 310 is installed on the support top plate 323. In this way, when the freeze dryer housing 310 needs maintenance, the support top plate 323 can be pulled to move it away from the machine base 100. At this time, the sliding component 322 moves relative to the support base 321. After the sliding component 322 moves a certain distance, the support top plate 323 moves relative to the sliding component 322 until the freeze dryer housing 310 is completely exposed. Then the freeze dryer housing 310 can be removed for maintenance. This way, it is not necessary to remove the entire device or other components, and it will not affect other mechanisms.

[0045] Furthermore, such as Figure 4 and Figure 5 As shown, the sliding component 322 includes a sliding plate 32201, an upper linear rail 32202, a lower linear rail 32203, an upper slider 32204, and a lower slider 32205. The upper linear rail 32202 and the lower linear rail 32203 are respectively connected to opposite sides of the sliding plate 32201. The upper slider 32204 is connected to the supporting top plate 323, and the lower slider 32205 is connected to the supporting base frame 321. The upper linear rail 32202 is movably connected to the upper slider 32204, and the lower linear rail 32203 is movably connected to the lower slider 32205, so that the entire mounting frame 320 forms a double telescopic structure. The upper linear guide 32202 and the upper slider 32204 cooperate to achieve relative movement between the slide plate 32201 and the supporting top plate 323; the lower linear guide 32203 and the lower slider 32205 cooperate to achieve relative movement between the slide plate 32201 and the supporting base frame 321, ensuring the maximum extension stroke of the supporting top plate 323, and also ensuring that the freeze dryer box 310 is completely exposed outside the machine base 100 when the supporting top plate 323 is extended to its maximum length, which is convenient for maintenance or repair.

[0046] Furthermore, such as Figure 5As shown, the sliding component 322 also includes a first upper stop block 32206, a second upper stop block 32207, a first lower stop block 32208, and a second lower stop block 32209. The first upper stop block 32206 is mounted on the supporting top plate 323, and the second upper stop block 32207 is mounted on one side of the sliding plate 32201, with the first upper stop block 32206 and the second upper stop block 32207 facing each other. The first lower stop block 32208 is mounted on the side of the sliding plate 32201 away from the second upper stop block 32207, and the second lower stop block 32209 is mounted on the supporting base frame 321, with the first lower stop block 32208 and the second lower stop block 32209 facing each other. The first lower stop block 32208 is used to abut against the second lower stop block 32209 when the slide plate 32201 moves from the first position to the second position, and the first upper stop block 32206 is used to abut against the second upper stop block 32207 when the supporting top plate 323 moves from the third position to the fourth position. It can be understood that the first position refers to the position when the slide plate 32201 coincides with the support base 321, the second position refers to the position when the slide plate 32201 extends from the support base 321 to its maximum distance, the third position refers to the position when the support top plate 323, the slide plate 32201 and the support base 321 coincide, and the fourth position refers to the position when the support top plate 323 extends from the slide plate 32201 and the support base 321 to its maximum distance. In this way, when the support top plate 323 is pulled, as long as the support top plate 323 and the slide plate 32201 both extend to their maximum distance, the two upper stop blocks and the two lower stop blocks will abut simultaneously to prevent the support top plate 323 or the slide plate 32201 from detaching due to excessive extension, thereby limiting the travel of the support top plate 323 and the slide plate 32201.

[0047] Furthermore, such as Figure 5 As shown, the sliding component 322 also includes a third upper stop block 32210. The third upper stop block 32210 is mounted on the support top plate 323 and is disposed on the same side as the first upper stop block 32206. The third upper stop block 32210 is used to abut against the second upper stop block 32207 when the support top plate 323 moves from the fourth position to the third position. When the slide plate 32201 is fully retracted, the freeze-drying port corresponds to the placement port 100b. In this way, by setting the third stop block 32210 and the first upper stop block 32206, the support top plate 323 can be effectively prevented from retracting and extending excessively, further limiting the movement stroke of the support top plate 323.

[0048] Furthermore, such as Figure 5As shown, the sliding component 322 also includes a third lower stop block 32211. The third lower stop block 32211 is installed on the side of the slide plate 32201 facing away from the supporting top plate 323. The third lower stop block 32211 is used to abut against the second lower stop block 32209 when the slide plate 32201 moves from the second position to the first position. At the same time, when the supporting top plate 323 is fully retracted, the third upper stop block 32210 and the second upper stop block 32207 abut against each other, thereby further aligning the freeze-drying port with the placement port 100b. By setting the third lower stop block 32211 and the first lower stop block 32208, the slide plate 32201 can be effectively prevented from excessively retracting and extending, further limiting the travel of the slide plate 32201.

[0049] In this embodiment, the first upper stop block 32206, the second upper stop block 32207, the first lower stop block 32208, the second lower stop block 32209, the third upper stop block 32210, and the third lower stop block 32211 are all magnetic blocks. This ensures that the first lower stop block 32208 attracts the second upper stop block 32207 when the supporting top plate 323 extends a certain distance, and the first lower stop block 32208 attracts the second lower stop block 32209 when the sliding plate 32201 extends a certain distance, thereby ensuring that... When replacing or maintaining the freeze dryer housing 310, the slide plate 32201 and the support top plate 323 remain in fixed positions. At the same time, when the support top plate 323 is fully retracted, the first lower stop block 32208 and the third upper stop block 32210 attract each other, which can maintain the stability of the position of the support top plate 323 and ensure that the freeze-drying port of the freeze dryer housing 310 is always directly facing the placement port 100b, so that the carrier clamping component 223 of the first clamping assembly 220 can place the placement carrier 5 into the freeze dryer housing 310 through the carrier clamp 2232.

[0050] In one embodiment, such as Figure 4 and Figure 5 As shown, the mounting frame 320 also includes several limiting baffles 324. The limiting baffles 324 are installed on the supporting top plate 323, and the multiple limiting baffles 324 abut against the outer peripheral wall of the freeze-drying chamber 310. Thus, after the freeze-drying chamber 310 is installed, its movement is restricted by the multiple limiting baffles 324. This prevents the placement container 5 from shifting or even detaching from the supporting top plate 323 due to vibrations during freeze-drying when the freeze-drying chamber 310 begins operation. This avoids the container grippers 2232 of the first clamping assembly 220 failing to grasp the freeze-dried placement container 5 due to displacement of the freeze-drying chamber 310. The limiting baffles 324 are located on the side of the supporting top plate 323 facing away from the first upper stop block 32206.

[0051] In one embodiment, such as Figure 11As shown, the second drive assembly 510 includes a third-direction drive member 511 and a fourth-direction drive member 512. The third-direction drive member 511 is mounted on the machine base 100, and the fourth-direction drive member 512 is connected to the drive end of the third-direction drive member 511. The second clamping assembly 520 is connected to the drive end of the fourth-direction drive member 512. The third-direction drive member 511 is a gantry driven in the X-axis direction, and there are two of them. The fourth-direction drive member 512 is a slide rail driven in the Y-axis direction. Thus, under the combined driving action of the third-direction drive member 511 and the fourth-direction drive member 512, the second clamping assembly 520 can move horizontally, and the second clamping assembly 520 itself can move vertically. The second clamping component 520 is existing technology and is only used to clamp a single liquid storage tube 4 located in the transport fixture 420 to the capping mechanism 600 and to clamp the liquid storage tube 4 located in the capping mechanism 600 to the cryopreservation carrier 2. It will not be described in detail here.

[0052] Furthermore, such as Figure 11 and Figure 12 As shown, the second drive assembly 510 also includes a second connecting plate 513, and a second clamping assembly 520 is mounted on the second connecting plate 513 so that the second clamping assembly 520 is connected to the drive end of the fourth direction drive member 512 through the second connecting plate 513.

[0053] like Figure 11 , Figure 12 and 14 As shown, in one embodiment, the capping mechanism 600 includes a vibrating plate 610, a dispensing rack 620, a bottle-top component 630, and a clamping and capping component 640. The vibrating plate 610 has a discharge channel 611, the dispensing rack 620 has a dispensing groove 621, the discharge channel 611 communicates with the dispensing groove 621, the clamping and capping component 640 is connected to the two driving ends of the second driving assembly 510, the bottle-top component 630 has a placement groove 6301, the second clamping and placement assembly 520 is used to clamp the liquid storage tube 4 of the placement carrier 5 located in the transport fixture 420 to the placement groove 6301, and the clamping and capping component 640 is used to clamp the tube cap 3 located in the dispensing groove 621 to the liquid storage tube 4 located in the placement groove 6301, and tighten the tube cap 3.

[0054] It is understandable that for a placement container 5 containing a freeze-dried liquid storage tube 4, the container gripper 2232 transfers the placement container 5 located in the freeze-drying chamber 310 to the transport fixture 420 for the next capping step. For a placement container 5 containing a liquid storage tube 4 that does not require freeze-drying, the container gripper 2232 directly transfers the placement container 5 located on the placement base 410 to the transport fixture 420 for the next capping step. During the capping step, the second drive assembly 510 drives the second clamping assembly 520 to move. At this time, the second clamping assembly 520 transfers a single liquid storage tube 4 from the placement container 5 located on the transport fixture 420 to the top bottle component. The second drive assembly 510 drives the clamping capping component 640 to move horizontally while simultaneously moving vertically to clamp the cap 3 located in the dispensing trough 621 and move it to the liquid storage tube 4 located in the placement trough 6301. The cap 3 is then tightened onto the liquid storage tube 4. Afterwards, the second clamping assembly 520 clamps the liquid storage tube 4 located in the placement trough 6301 and transfers it to the frozen storage carrier 2 on the storage rack. This completes the capping and storage steps. The transfer, capping, and storage transport steps are performed automatically without manual intervention, thus reducing the time spent on capping and storage. Furthermore, both the clamping capping component 640 and the second drive assembly 510 are connected to the drive end of the fourth direction drive member 512.

[0055] In this embodiment, the transport fixture 420 is a single-station operation transport fixture.

[0056] In one embodiment, such as Figure 14 and Figure 15 As shown, the top bottle component 630 includes a top bottle platform 631, a top bottle driver 632, and a pressure tube block 633. The placement groove 6301 has a top bottle platform 631, and the top bottle platform 631 also has a clearance opening 631a. The clearance opening 631a communicates with the inner wall of the placement groove 6301. The top bottle driver 632 is installed on the top bottle platform 631, and the driving end of the top bottle driver 632 is connected to the pressure tube block 633. The pressure tube block 633 is used to pass through the clearance opening 631a and abut against the liquid storage tube 4 when the top bottle driver 632 is driven, so that in the capping step, the pressure tube block 633 can abut against the liquid storage tube 4 to prevent the liquid storage tube 4 from rotating or shifting, and to ensure that the clamping capping component 640 can tighten the tube cap 3 onto the liquid storage tube 4. In this embodiment, the pressure block 633 is a buffer soft block, which makes the pressure block 633 have a certain degree of softness, so that when the pressure block 633 presses against the liquid storage tube 4, it will not damage the liquid storage tube 4.

[0057] Furthermore, such as Figure 15As shown, the top bottle component 630 also includes a tube detector 634, which is mounted on the top bottle platform 631 with its collecting end facing the bottom of the placement tank 6301. This allows the tube detector 634 to detect the presence of the liquid storage tube 4, thereby determining whether to perform the capping step. The bottom of the placement tank 6301 has a hollow structure to facilitate the tube detector 634 in detecting the presence or absence of the liquid storage tube 4.

[0058] In one embodiment, such as Figure 12 As shown, the cap-clamping component 640 includes a second vertical drive component 641, a connecting frame 642, and a cap-clamping member 643. The second vertical drive component 641 is connected to the two drive ends of the second drive assembly 510. The connecting frame 642 is fixedly connected to the cap-clamping member 643 and is also connected to the drive end of the second vertical drive component 641. The cap-clamping member 643 is used to clamp the cap 3 located in the dispensing trough 621 onto the liquid storage tube 4 located in the placement trough 6301 and tighten the cap 3. In this embodiment, the second vertical drive component 641 is used to drive the connecting frame 642 to move along the Z-axis direction, thereby causing the cap-clamping member 643 to move synchronously with the connecting frame 642 to better clamp the cap 3 in the dispensing trough 621. Specifically, the second vertical drive component 641 is mounted on the second connecting plate 513 and is connected to the two drive ends of the fourth direction drive component 512.

[0059] Furthermore, such as Figure 12 As shown, the second vertical drive component 641 includes a second vertical slide rail 6411 and a second vertical driver 6412. The second vertical driver 6412 is mounted on the second vertical slide rail 6411, which is connected to the two drive ends of the second drive assembly 510. The drive end of the second vertical driver 6412 is connected to the connecting frame 642, so that the connecting frame 642 reciprocates on the second vertical slide rail 6411, thereby driving the clamping cap 643 to move synchronously with the connecting frame 642. Specifically, the second vertical driver 6412 is a servo motor.

[0060] Furthermore, such as Figure 12As shown, the capping clamping component 643 includes a capping clamping driver 6431, a capping rotating head 6432, and a capping jaw 6433. The capping rotating head 6432 is connected to the rotation drive end of the capping clamping driver 6431, and the capping jaw 6433 is connected to the clamping drive end of the capping clamping driver 6431. The capping clamping driver 6431 is mounted on the connecting frame 642. In this embodiment, when the capping clamping driver 6431 moves downward to a specified distance under the drive of the second vertical driver 6412, the capping clamping driver 6431 is activated, causing the capping jaw 6433 to retract to clamp the tube cap 3 on the dispensing trough 621. Then, the tube cap 3 is transferred to the liquid storage tube 4 in the placement trough 6301, and the capping clamping driver 6431 drives the capping rotating head 6432 to rotate, tightening the tube cap 3 onto the liquid storage tube 4, thus completing the automated capping step.

[0061] In one specific embodiment, the second clamping component 520 and the second vertical driving component 641 are respectively installed on opposite sides of the second connecting plate 513 to avoid mutual interference when the second clamping component 520 and the second vertical driving component 641 are working.

[0062] In another embodiment, such as Figure 14 As shown, the capping mechanism 600 also includes a waste box 650 and a vision detector 660 installed on the machine base 100. The material distribution rack 620 also has a termination end, and the acquisition end of the vision detector 660 faces the termination end. It can be understood that the vibrating plate 610 is used to vibrate the tube cap 3, so that it enters the material distribution trough 621 through the discharge channel 611. The vision detector 660 detects whether the tube cap 3 exists at the termination end. When the tube cap 3 exists, the vision detector 660 will also detect whether the tube cap 3 meets the requirements. Specifically, it will detect whether the tube cap 3 is deformed or whether the tube cap 3 is missing a sealing ring, etc. When the tube cap 3 meets the requirements, the capping claw 6433 will pick up the tube cap 3 and perform the normal capping process. Otherwise, the capping claw 6433 will transfer the tube cap 3 to the waste box 650. Through the detection mechanism of the vision detector 660, it can be ensured that the tube cap 3 can effectively seal the liquid storage tube 4 after automated capping, avoiding rework due to leakage of medicine.

[0063] In one embodiment, such as Figure 2 and Figure 11As shown, the automated freeze-drying storage device 10 also includes a storage rack 900 installed on the machine base 100; the second moving clamping mechanism 500 also includes a fifth clamping component 530, which is connected to the three driving ends of the second driving component 510. The fifth clamping component 530 is used to clamp the freeze-drying storage carrier 2 located on the storage base 430 to the storage rack 900. In this embodiment, the storage rack 900 is used to place different types of freeze-drying storage carriers 2: one part holds empty freeze-drying storage carriers 2, and the other part holds freeze-drying storage carriers 2 containing the frozen and sealed liquid storage tubes 4. After the capping step is completed, the second clamping assembly 520 transfers the liquid storage tube 4 located on the top bottle component 630 of the capping mechanism 600 to the cryopreservation carrier 2 in the storage base 430. Once the cryopreservation carrier 2 is full of liquid storage tubes 4, the fifth clamping assembly 530 transfers it to the storage platform 900. Then, the empty cryopreservation carrier 2 is removed from the storage platform 900 and placed into the storage base 430 for the next batch of transport operations. This process achieves automated transport of the cryopreservation carrier 2 without manual intervention, effectively ensuring transport efficiency.

[0064] Furthermore, such as Figure 11 As shown, the fifth clamping assembly 530 includes a fixed plate 531, a lifting rod 532, a lifting drive motor 533, and a material-picking gripper component 534. The fixed plate 531 is connected to the three driving ends of the second driving assembly 510. The lifting drive motor 533 is mounted on the fixed plate 531. The lifting rod 532 is connected to the driving end of the lifting drive motor 533. The material-picking gripper component 534 is connected to the lifting rod 532. Further, the second driving assembly 510 also includes a fifth-direction driving member 514, which is connected to the driving end of the third-direction driving member 511. The fixed plate 531 is connected to the driving end of the fifth-direction driving member 514.

[0065] In this embodiment, the third-direction drive member 511 drives the fifth-direction drive member 514 to move in the X-axis direction, thereby causing the material-grabbing gripper 534 to move along with the fifth-direction drive member 514. The fifth-direction drive member 514 drives the fixed plate 531 to move in the Y-axis direction, thereby causing the material-grabbing gripper 534 to move along with the fixed plate 531. The lifting drive motor 533 drives the lifting rod 532 to move in the Z-axis direction, thereby causing the material-grabbing gripper 534 to move along with the lifting rod 532. In this way, the material-grabbing gripper 534 can move in multiple directions under the coordinated action of the third-direction drive member 511, the fifth-direction drive member 514, and the lifting drive motor 533. This facilitates the transfer of the cryopreservation container 2 filled with liquid storage tubes 4 to the storage rack 900, and the transfer of the empty cryopreservation container 2 to the storage base 430.

[0066] Furthermore, such as Figure 11As shown, the material handling gripper component 534 includes a material handling drive motor 5341 and a gripper body 5342. The material handling drive motor 5341 is connected to the lifting rod 532, and the gripper body 5342 is connected to the drive end of the material handling drive motor 5341, so that the material handling drive motor 5341 drives the gripper body 5342 to open or retract. Furthermore, under the coordinated action of the third-direction drive component 511, the fifth-direction drive component 514, and the lifting drive motor 533, the gripper body 5342 can achieve multi-directional movement, facilitating the gripping of the frozen storage carrier 2. Further, the material handling gripper component 534 also includes an anti-detachment adhesive (not shown), which is connected to one end face of the gripper body 5342. When the gripper body 5342 grips the frozen storage carrier 2, the frozen storage carrier 2 comes into contact with the anti-detachment adhesive, effectively preventing it from falling off the gripper body 5342. In this embodiment, the anti-detachment adhesive is made of urethane (PU elastomer), which has certain cushioning, shock absorption and wear resistance properties.

[0067] Compared with the prior art, this disclosure has at least the following advantages: This solution uses an automated device to feed the placement container 5 containing the liquid storage tube 4 into the freeze-drying unit 300 for liquid freeze-drying. After freeze-drying, the placement container 5 is removed and placed on the transport fixture 420. Subsequently, the sealing mechanism 600 seals the liquid storage tube 4, and finally, the sealed liquid storage tube 4 is transferred to the cryogenic storage carrier 2. The entire process requires no manual intervention, effectively shortening the overall time from liquid loading to finished product storage, improving freeze-drying storage efficiency, and meeting the needs of efficient and continuous operation.

[0068] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. An automated freeze-drying storage device, characterized in that, include: The machine has a freeze-drying chamber and a placement opening, wherein the freeze-drying chamber is connected to the placement opening; The first movable clamping mechanism includes a first driving component and a first clamping component. The first driving component is mounted on the machine base, and the first clamping component is connected to the driving end of the first driving component. A freeze-drying unit is located in the freeze-drying chamber, with the top of the freeze-drying unit facing the placement opening; The transport and placement mechanism includes a placement base, a transport fixture, and a storage base installed on the machine, wherein the storage base is used to place the frozen storage carrier; The second movable clamping mechanism includes a second drive component and a second clamping component. The second drive component is mounted on the machine base, and the second clamping component is connected to one drive end of the second drive component. A capping mechanism is installed on the machine base, and the capping mechanism is used to seal the opening of the liquid storage tube with a tube cap; The first clamping component is used to clamp the placement box containing the liquid storage tube located on the placement base to the freeze-drying mechanism or the transport fixture, and to clamp the placement box after freeze-drying to the transport fixture. The second clamping component is used to clamp the liquid storage tube of the placement box located on the transport fixture to the capping mechanism, and to clamp the liquid storage tube located on the capping mechanism to the cryopreservation container.

2. The automated freeze-drying storage device according to claim 1, characterized in that, The first movable clamping mechanism further includes a third clamping component, which is connected to the two driving ends of the first driving component; The automated freeze-drying storage device also includes a feeding and conveying assembly installed on the machine. The feeding and conveying assembly is used to receive a conveyor carrying a liquid storage tube. The third clamping assembly is used to clamp the liquid storage tube on the conveyor to a placement box located on the placement base.

3. The automated freeze-drying storage device according to claim 2, characterized in that, The first movable clamping mechanism further includes a fourth clamping component, which is connected to the three driving ends of the first driving component; The automated freeze-drying storage device also includes a return conveyor assembly installed on the machine, the return conveyor assembly being used to convey an empty conveyor carrier, and the fourth clamping assembly being used to clamp the conveyor carrier located on the feeding conveyor assembly to the return conveyor assembly.

4. The automated freeze-drying storage device according to claim 1, characterized in that, The first drive assembly includes a first direction drive component and a second direction drive component. The first direction drive component is mounted on the machine tool, the second direction drive component is connected to the drive end of the first direction drive component, and the first clamping assembly is connected to the drive end of the second direction drive component.

5. The automated freeze-drying storage device according to claim 1, characterized in that, The freeze-drying mechanism includes a freeze-drying chamber and a mounting frame. The mounting frame is connected to the machine base. The freeze-drying chamber is detachably mounted on the mounting frame. The freeze-drying chamber has a freeze-drying port that communicates with the placement port. The first clamping assembly is used to place the placement container carrying the liquid storage tube, located on the placement base, into the freeze-drying chamber, and to clamp the freeze-dried placement container to the transport fixture.

6. The automated freeze-drying storage device according to claim 1, characterized in that, The second drive assembly includes a third-direction drive component and a fourth-direction drive component. The third-direction drive component is mounted on the machine tool, and the fourth-direction drive component is connected to the drive end of the third-direction drive component. The second clamping assembly is connected to the drive end of the fourth-direction drive component.

7. The automated freeze-drying storage device according to claim 1, characterized in that, The capping mechanism includes a vibrating plate, a dispensing rack, a bottle-top component, and a clamping and capping component. The vibrating plate has a discharge channel, the dispensing rack has a dispensing groove, the discharge channel is connected to the dispensing groove, the clamping and capping component is connected to the two driving ends of the second driving assembly, the bottle-top component has a placement groove, the second clamping assembly is used to clamp the liquid storage tube located in the placement box of the transport fixture to the placement groove, and the clamping and capping component is used to clamp the tube cap located in the dispensing groove to the liquid storage tube located in the placement groove and tighten the tube cap.

8. The automated freeze-drying storage device according to claim 7, characterized in that, The sealing mechanism also includes a waste box and a vision detector installed on the machine, and the material distribution rack also has a termination end, with the acquisition end of the vision detector facing the termination end.

9. The automated freeze-drying storage device according to claim 1, characterized in that, The automated freeze-drying storage device also includes a storage rack installed on the machine. The second moving clamping mechanism further includes a fifth clamping component, which is connected to the three driving ends of the second driving component. The fifth clamping component is used to clamp the frozen storage carrier located on the storage base to the storage rack.

10. The automated freeze-drying storage device according to claim 9, characterized in that, The fifth clamping assembly includes a fixed plate, a lifting rod, a lifting drive motor, and a material-picking gripper component. The fixed plate is connected to the three drive ends of the second drive assembly, the lifting drive motor is mounted on the fixed plate, the lifting rod is connected to the drive end of the lifting drive motor, and the material-picking gripper component is connected to the lifting rod.

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