Pipe picking device and sample storage equipment

Abstract

The utility model discloses a pipe picking device and sample storage equipment, and belongs to the technical field of sample processing, the pipe picking device comprises a platform assembly, a rotary clamping jaw mechanism, a displacement driving mechanism and a code scanning assembly, the platform assembly comprises a platform body, the platform body is provided with at least two slot positions, and each slot position can be used for placing a sample box; the rotary clamping jaw mechanism is arranged above the platform body and can clamp a sample tube in the sample box, and the rotary clamping jaw mechanism can drive the sample tube to rotate; the displacement driving mechanism is connected with the rotary clamping jaw mechanism and can drive the rotary clamping jaw mechanism to move along the X axis, the Y axis and the Z axis so as to move the sample tube from one sample box to another sample box; the code scanning assembly is arranged on one side of the groove position and can scan bar codes on the sample tubes clamped by the rotary clamping jaw mechanism. The sample storage equipment comprises the tube picking device. An independent code scanning link does not need to be set, time is saved, and the sample tube does not need to be moved frequently.

Description

Technical Field

[0001] The utility model relates to the technical field of sample processing, in particular to a tube picking device and a sample storage device. Background Art

[0002] During the sample storage and processing process, it is often necessary to pick certain sample tubes from one sample box to another. Long-term storage of samples needs to be kept in a deep-low temperature environment, usually a gaseous liquid nitrogen environment at -150°C. The traditional manual method is to take out the sample box containing the sample tubes from the liquid nitrogen tank, and then manually use tweezers or gloves to directly take out the target sample tubes at room temperature, resulting in large temperature fluctuations of unrelated samples. The existing automatic tube picking device uses a robot to grab the sample tube from a sample box and move it to the scanning position for sample tube scanning and identification. After the scanning and identification is completed, the robot transports the sample tube to another sample box. The structure is relatively complex and time-consuming. Utility Model Content

[0003] The purpose of the utility model is to provide a tube picking device and a sample storage device to solve the technical problems in the prior art that the tube picking device has a complex structure and takes a long time to pick a tube.

[0004] As conceived above, the technical solution adopted by the utility model is:

[0005] A pipe lifting device, comprising:

[0006] The platform assembly includes a platform body, wherein the platform body is provided with at least two slots, each of which can accommodate a sample box;

[0007] a rotating claw mechanism, disposed above the platform body and capable of clamping the sample tube in the sample box, and capable of driving the sample tube to rotate;

[0008] a shift drive mechanism connected to the rotating jaw mechanism and capable of driving the rotating jaw mechanism to move along the X-axis, the Y-axis, and the Z-axis to move the sample tube from one sample box to another sample box;

[0009] A barcode scanning component is arranged on one side of the slot, and the barcode scanning component can scan the barcode on the sample tube clamped by the rotating clamping mechanism.

[0010] Preferably, the shift drive mechanism includes a Z-direction shift component, a Y-direction shift component and an X-direction shift component, the Z-direction shift component is connected to the rotating clamping mechanism and is used to drive the rotating clamping mechanism to move along the Z-axis, the Y-direction shift component is connected to the Z-direction shift component and is used to drive the Z-direction shift component to move along the Y-axis, and the X-direction shift component is connected to the Y-direction shift component and is used to drive the Y-direction shift component to move along the X-axis.

[0011] Preferably, the Z-direction shifting assembly includes a first bracket and a first driving part, the first driving part is arranged on the first bracket, the first driving part is connected to the rotating clamping mechanism and is used to drive the rotating clamping mechanism to move along the Z axis, and the Y-direction shifting assembly is connected to the first bracket.

[0012] Preferably, the first driving part includes a first rack, a first motor and a first gear, the first rack extends parallel to the Z axis and is fixedly arranged on the first bracket, the first motor is connected to the rotating clamping mechanism through a first adapter frame, and the first gear is connected to the motor shaft of the first motor and meshes with the first rack.

[0013] Preferably, the Z-direction shift assembly also includes a first guide portion, which includes a first guide rail and a first slider, the first guide rail extends parallel to the Z-axis and is fixedly arranged on the first bracket, the first slider is slidably arranged on the first guide rail, and the first adapter frame and the rotating clamping mechanism are both fixedly connected to the first slider.

[0014] Preferably, an ejection mechanism is further included, which is arranged below the platform body and can eject the sample tube in the sample box upward.

[0015] Preferably, a receiving opening penetrating the platform body along the Z axis is provided on the platform body at the slot, and a carrying frame is provided on part of the circumferential edge of the receiving opening, and the sample box is carried on the carrying frame.

[0016] Preferably, the platform assembly further includes a limiting structure, which includes a push member and a push driving portion, wherein the push member is arranged on one side of the accommodating port, and the push driving portion can drive the push member to move to abut against the side of the sample box.

[0017] Preferably, the platform assembly further includes a pressing box structure, which includes a pressing box plate and a pressing plate driving unit. The pressing plate driving unit is arranged on the platform body and can drive the pressing box plate to rotate around a first axis between a first position and a second position. When the pressing box plate is in the first position, it abuts against the top of the sample box.

[0018] A sample storage device, comprising:

[0019] The box body has a storage room and a pipe-hanging room inside, and the storage room is connected to the pipe-hanging room;

[0020] The pipe lifting device as described above is arranged in the pipe lifting room;

[0021] A transfer device is used to transfer the sample box between the tube picking room and the storage room.

[0022] Beneficial effects of the utility model:

[0023] The tube picking device proposed in the present invention, when in use, has a rotating clamping mechanism to clamp a sample tube, a shifting drive mechanism to drive the rotating clamping mechanism to move a certain distance upward along the Z axis, so that the sample tube leaves the sample box, and a barcode scanning component to scan the barcode on the sample tube. If the barcode is within the scanning range of the barcode scanning component, it can be successfully scanned. If the barcode is not within the scanning range of the barcode scanning component, the rotating clamping mechanism drives the sample tube to rotate so that the barcode moves into the scanning range, facilitating scanning by the barcode scanning component. The shifting drive mechanism drives the rotating clamping mechanism to move along the X-axis, Y-axis, and Z-axis to move the sample tube to another sample box. The rotating clamping mechanism, the shifting drive mechanism, and the barcode scanning component are compactly arranged and cooperate with each other. The rotating clamping mechanism can clamp the sample tube and drive the sample tube to rotate when necessary. The barcode scanning component can scan the barcode on the sample tube without the need for a separate scanning link, saving time and eliminating the need for frequent sample tube movement. The shifting drive mechanism can drive the rotating clamping mechanism to move along the X-axis, Y-axis, and Z-axis, eliminating the need for a manipulator, simplifying the structure, and reducing the failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the pipe lifting device provided by the embodiment of the utility model Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the structure of the pipe lifting device provided by the embodiment of the utility model Figure 2 ;

[0026] Figure 3 This is a partial structural diagram of the pipe lifting device provided by the embodiment of the utility model Figure 1 ;

[0027] Figure 4 This is a partial structural diagram of the pipe lifting device provided by the embodiment of the utility model Figure 2 ;

[0028] Figure 5 This is a partial structural diagram of the rotating clamping mechanism provided by an embodiment of the present utility model;

[0029] Figure 6 It is a partial structural diagram of the platform assembly provided by an embodiment of the present utility model;

[0030] Figure 7 This is a schematic structural diagram of a push member provided by an embodiment of the utility model;

[0031] Figure 8 This is a partial structural diagram of the pipe lifting device provided by the embodiment of the utility model Figure 3 .

[0032] In the picture:

[0033] 110, sample box; 120, sample tube; 200, visual camera;

[0034] 10. Platform assembly; 101. First axis; 11. Platform body; 12. Load-bearing frame; 13. Limiting structure; 131. Pushing member; 1311. Pushing protrusion; 14. Pressing box structure; 141. Pressing box plate; 142. Pressing plate drive unit; 1421. Pressing plate motor; 1422. Rotating shaft; 1423. Connecting rod; 15. Platform bracket;

[0035] 20. Ejector mechanism; 21. Ejector rod; 221. Ejector motor; 222. Ejector gear; 223. Motor bracket; 23. Ejector bracket;

[0036] 30. Rotating clamping jaw mechanism; 31. Support frame; 32. Rotating clamping jaw assembly; 321. Clamping jaw; 3211. Clamping groove; 3212. Clamping protrusion;

[0037] 40. Shift drive mechanism;

[0038] 41. Z-axis shift assembly; 411. First bracket; 4111. Guide hole; 4121. First rack; 4122. First motor; 4123. First gear; 4124. First adapter; 413. First guide rail;

[0039] 42. Y-axis shift assembly; 421. second bracket; 4221. second rack; 4222. second motor; 4223. second gear; 4224. second adapter; 423. second guide rail;

[0040] 43. X-axis shift assembly; 431. third bracket; 4321. third rack; 4322. third motor; 4323. third gear; 433. third guide rail;

[0041] 50. QR code scanning component. DETAILED DESCRIPTION

[0042] The following describes in detail embodiments of the present invention. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0046] See also Figures 1 to 8 The present embodiment provides a tube picking device, including a platform assembly 10, a rotating clamping mechanism 30, a shifting driving mechanism 40 and a barcode scanning assembly 50. The platform assembly 10 includes a platform body 11, and the platform body 11 is provided with at least two slots, each of which can accommodate a sample box 110; the rotating clamping mechanism 30 is arranged above the platform body 11 and can clamp the sample tube 120 in the sample box 110, and the rotating clamping mechanism 30 can drive the sample tube 120 to rotate; the shifting driving mechanism 40 is connected to the rotating clamping mechanism 30 and can drive the rotating clamping mechanism 30 to move along the X-axis, Y-axis and Z-axis to move the sample tube 120 from one sample box 110 to another sample box 110; the barcode scanning assembly 50 is arranged on one side of the slot, and the barcode scanning assembly 50 can scan the barcode on the sample tube 120 clamped by the rotating clamping mechanism 30.

[0047] When in use, the rotating clamping mechanism 30 clamps the sample tube 120, and the shift driving mechanism 40 drives the rotating clamping mechanism 30 to move a certain distance upward along the Z axis, so that the sample tube 120 leaves the sample box 110, and the code scanning component 50 scans the barcode on the sample tube 120. If the barcode is within the scanning range of the code scanning component 50, it can be scanned successfully. If the barcode is not within the scanning range of the code scanning component 50, the rotating clamping mechanism 30 drives the sample tube 120 to rotate so that the barcode rotates into the scanning range, which is convenient for the code scanning component 50 to scan; the shift driving mechanism 40 drives the rotating clamping mechanism 30 to move along the X axis, Y axis and Z axis to move the sample tube 120 to another sample box 110. The rotating clamping mechanism 30, the shifting driving mechanism 40 and the code scanning assembly 50 are arranged compactly and cooperate with each other. The rotating clamping mechanism 30 can clamp the sample tube 120 and drive the sample tube 120 to rotate. The code scanning assembly 50 completes the code scanning during rotation, realizing scanning while shifting. There is no need to set up a separate code scanning link, which saves time and eliminates the need to frequently move the sample tube 120. The shifting driving mechanism 40 can drive the rotating clamping mechanism 30 to move along the X-axis, Y-axis and Z-axis. There is no need to set up a robot arm, which simplifies the structure and reduces the failure rate.

[0048] The rotating jaw mechanism 30 drives the sample tube 120 to rotate at an angle between 0° and 360°, depending on the actual situation. If the barcode is within the scanning range of the barcode scanning component 50 after the sample tube 120 is clamped, no rotation is required. If the barcode is not within the scanning range of the barcode scanning component 50, the rotating jaw mechanism 30 drives the sample tube 120 to rotate so that the barcode moves into the scanning range. During the process of the rotating jaw mechanism 30 driving the sample tube 120 to rotate, the barcode scanning component 50 is always in the scanning state. As long as the barcode enters the scanning range, it can be successfully scanned. That is, the rotating jaw mechanism 30 scans while rotating until the barcode scanning component 50 successfully scans it, at which point the rotating jaw mechanism 30 stops driving the sample tube 120 to rotate.

[0049] The tube picking device also includes an ejection mechanism 20, which is disposed below the platform body 11 and is capable of ejecting the sample tubes 120 from the sample box 110 upward, allowing the rotating jaw mechanism 30 to grasp the ejected sample tubes 120. During use, the ejection mechanism 20 first ejects a sample tube 120 from the sample box 110 upward, and then the rotating jaw mechanism 30 grasps the ejected sample tube 120.

[0050] The rotating clamp mechanism 30 includes a support frame 31 and a rotating clamp assembly 32. The support frame 31 extends parallel to the Y axis. Figure 5The rotating jaw assembly 32 includes two opposing jaws 321 each having a clamping groove 3211. The two clamping grooves 3211 define a clamping space for accommodating the sample tube 120. The two jaws 321 can approach each other to clamp the sample tube 120. The rotating jaw assembly 32 can utilize an existing electric rotating jaw to grip the sample tube 120 and rotate it. The existing structure and operating principle are not described in detail herein.

[0051] The inner wall of the clamping groove 3211 is provided with multiple clamping protrusions 3212, which abut against the sample tube 120. The provision of the clamping protrusions 3212 increases friction with the sample tube 120, making the clamping jaws 321 more stable in gripping the sample tube 120. The clamping groove 3211 is U-shaped, V-shaped, or curved, providing a large contact area with the cap of the sample tube 120 and excellent positioning performance, enabling better and more stable gripping of the sample tube 120.

[0052] A visual camera 200 is also provided on the support frame 31 to play a positioning role. The position of the sample tube 120 can be identified based on the detection information obtained by the visual camera 200, and then the distance that the rotating clamping mechanism 30 moves along the X-axis, Y-axis and Z-axis can be controlled. The visual camera 200 is an existing camera, and its working principle is existing technology, which will not be repeated here.

[0053] The X-axis, Y-axis and Z-axis are Figure 1 As shown by the arrows, the X-axis, Y-axis, and Z-axis are perpendicular to each other. The shift drive mechanism 40 includes a Z-axis shift assembly 41, a Y-axis shift assembly 42, and an X-axis shift assembly 43. The Z-axis shift assembly 41 is connected to the rotating clamping mechanism 30 and is used to drive the rotating clamping mechanism 30 to move along the Z-axis. The Y-axis shift assembly 42 is connected to the Z-axis shift assembly 41 and is used to drive the Z-axis shift assembly 41 to move along the Y-axis. The X-axis shift assembly 43 is connected to the Y-axis shift assembly 42 and is used to drive the Y-axis shift assembly 42 to move along the X-axis.

[0054] The Z-axis shift assembly 41, the Y-axis shift assembly 42, and the X-axis shift assembly 43 can operate independently without interfering with each other. That is, when the X-axis shift assembly 43 drives the Y-axis shift assembly 42 to move along the X-axis, the Y-axis shift assembly 42 can also simultaneously drive the Z-axis shift assembly 41 to move along the Y-axis.

[0055] The Z-axis displacement assembly 41 includes a first bracket 411 and a first driving unit. The first driving unit is disposed on the first bracket 411 and is connected to the rotating jaw mechanism 30 and is used to drive the rotating jaw mechanism 30 to move along the Z axis. The Y-axis displacement assembly 42 is connected to the first bracket 411. The first driving unit can be an existing pneumatic cylinder or hydraulic cylinder.

[0056] In this embodiment, the first driving unit includes a first rack 4121, a first motor 4122, and a first gear 4123. The first rack 4121 extends parallel to the Z-axis and is fixedly mounted on the first bracket 411. The first motor 4122 is connected to the rotating clamping mechanism 30 via a first adapter 4124. The first gear 4123 is connected to the motor shaft of the first motor 4122 and meshes with the first rack 4121. When the first motor 4122 is activated, it drives the first gear 4123 to rotate, causing the first gear 4123 to move along the first rack 4121, thereby achieving synchronous movement of the first gear 4123, the first motor 4122, the first adapter 4124, and the rotating clamping mechanism 30 along the Z-axis.

[0057] Specifically, the first motor 4122 is mounted on a first adapter frame 4124, which is connected to the support frame 31 of the rotating clamping mechanism 30. The first motor 4122 and the rotating clamping mechanism 30 are located on either side of the first bracket 411. The first bracket 411 defines a guide hole 4111 extending parallel to the Z-axis, through which the first adapter frame 4124 is inserted. The motor shaft of the first motor 4122 extends parallel to the Y-axis.

[0058] The Z-direction shift assembly 41 also includes a first guide portion, which includes a first guide rail 413 and a first slider. The first guide rail 413 extends parallel to the Z-axis and is fixedly disposed on the first bracket 411. The first slider is slidably disposed on the first guide rail 413, and the first adapter frame 4124 is fixedly connected to the first slider. During the movement of the first adapter frame 4124 and the rotating clamping mechanism 30 along the Z-axis, the first slider moves along the first guide rail 413. The first slider cooperates with the first guide rail 413 to provide guidance, and the first slider is connected to the first adapter frame 4124 to prevent the first motor 4122 from disengaging from the first rack 4121. The first guide rail 413 and the first rack 4121 are distributed on both sides of the first bracket 411 so that the force on the first bracket 411 is balanced.

[0059] In this embodiment, the ejection mechanism 20 and the rotary clamping mechanism 30 share the first bracket 411, reducing the number of parts and making the structure more compact. In other embodiments, a separate drive mechanism can be provided for the ejection mechanism 20. In this embodiment, when the X-axis shift assembly 43 and the Y-axis shift assembly 42 drive the movement of the rotary clamping mechanism 30, they also drive the ejection mechanism 20 to move simultaneously. That is, the X-axis and Y-axis movement of the ejection mechanism 20 and the rotary clamping mechanism 30 are synchronized. The Z-axis positions of the ejection mechanism 20 and the rotary clamping mechanism 30 can then be adjusted according to actual needs.

[0060] The ejection mechanism 20 includes an ejection rod 21, an ejection drive unit, and an ejection bracket 23. The ejection rod 21 extends parallel to the Z axis and is connected to the ejection bracket 23. The ejection drive unit is disposed on the first bracket 411 and can drive the ejection bracket 23 to move along the Z axis. The ejection drive unit can be an existing pneumatic cylinder or hydraulic cylinder.

[0061] In this embodiment, the ejection drive unit includes an ejection motor 221 and an ejection gear 222. The ejection motor 221 is connected to the ejection bracket 23. The ejection gear 222 is connected to the motor shaft of the ejection motor 221 and meshes with the first rack 4121. In other words, the first gear 4123 and the ejection gear 222 share the first rack 4121. When the ejection motor 221 is activated, it drives the ejection gear 222 to rotate, causing the ejection gear 222 to move along the first rack 4121, thereby achieving synchronous movement of the ejection gear 222, the ejection motor 221, and the ejection bracket 23 along the Z-axis.

[0062] Specifically, the ejector motor 221 is mounted on a motor bracket 223, which is connected to the ejector bracket 23. The ejector motor 221 and the ejector bracket 23 are located on either side of the first bracket 411, with the motor bracket 223 passing through the guide hole 4111. The motor shaft of the ejector motor 221 extends parallel to the Y-axis. The ejector bracket 23 also extends parallel to the Y-axis.

[0063] The ejector rod 21 and the clamping space of the two clamping jaws 321 are arranged opposite each other along the Z-axis direction. Therefore, after the X-axis shift component 43 and the Y-axis shift component 42 drive the rotating clamping jaw mechanism 30 and the ejection mechanism 20 to move synchronously, it is only necessary to start the first motor 4122 and the ejection motor 221 to adjust the positions of the rotating clamping jaw mechanism 30 and the ejection mechanism 20 on the Z-axis respectively.

[0064] The ejection mechanism 20 also includes an ejection slider, which is slidably mounted on the first guide rail 413. The ejection bracket 23 is fixedly connected to the ejection slider. As the ejection bracket 23 moves along the Z-axis, the ejection slider moves along the first guide rail 413. The ejection slider and the first guide rail 413 cooperate to provide guidance, and the connection between the ejection slider and the ejection bracket 23 prevents the ejection motor 221 from disengaging from the first rack 4121.

[0065] The Y-axis displacement assembly 42 includes a second bracket 421 and a second driving unit. The second driving unit is provided on the second bracket 421 and connected to the first bracket 411 to drive the first bracket 411 to move along the Y-axis. The second driving unit can be an existing pneumatic cylinder or hydraulic cylinder.

[0066] In this embodiment, the second drive unit includes a second rack 4221, a second motor 4222, and a second gear 4223. The second rack 4221 extends parallel to the Y-axis and is fixedly mounted on the second bracket 421. The second motor 4222 is connected to the first bracket 411 via a second adapter 4224. The second gear 4223 is connected to the motor shaft of the second motor 4222 and meshes with the second rack 4221. When the second motor 4222 is activated, it drives the second gear 4223 to rotate, causing the second gear 4223 to move along the second rack 4221, thereby achieving synchronous movement of the second gear 4223, the second motor 4222, the second adapter 4224, and the first bracket 411 along the Y-axis.

[0067] The Y-axis displacement assembly 42 also includes a second guide portion, comprising a second guide rail 423 and a second slider. The second guide rail 423 extends parallel to the Y-axis and is fixedly mounted on the second bracket 421. The second slider slides along the second guide rail 423. The second adapter frame 4224 and the first bracket 411 are both fixedly connected to the second slider. As the second adapter frame 4224 and the first bracket 411 move along the Y-axis, the second slider moves along the second guide rail 423. The second slider cooperates with the second guide rail 423 to provide guidance. Furthermore, the second slider is connected to the second adapter frame 4224 to prevent the second motor 4222 from disengaging from the second rack 4221.

[0068] Specifically, the second bracket 421 extends in the horizontal direction, the second motor 4222 and the second guide rail 423 are distributed on the upper side of the second bracket 421, and the motor shaft of the second motor 4222 extends parallel to the Z axis.

[0069] The X-axis displacement assembly 43 includes a third bracket 431 and a third driving unit. The third driving unit is provided on the third bracket 431 and is connected to the second bracket 421 and is used to drive the second bracket 421 to move along the X-axis. The third driving unit can be an existing pneumatic cylinder or hydraulic cylinder.

[0070] In this embodiment, the third driving unit includes a third rack 4321, a third motor 4322, and a third gear 4323. The third rack 4321 extends parallel to the X-axis and is fixedly mounted on the third bracket 431. The third motor 4322 is connected to the second bracket 421. The third gear 4323 is connected to the motor shaft of the third motor 4322 and meshes with the third rack 4321. When the third motor 4322 is activated, it drives the third gear 4323 to rotate, causing the third gear 4323 to move along the third rack 4321, thereby achieving synchronous movement of the third gear 4323, the third motor 4322, and the second bracket 421 along the X-axis.

[0071] The X-axis shift assembly 43 also includes a third guide portion, comprising a third guide rail 433 and a third slider. The third guide rail 433 extends parallel to the X-axis and is fixedly mounted on the third bracket 431. The third slider slides along the third guide rail 433. The second bracket 421 is fixedly connected to the third slider. As the second bracket 421 moves along the X-axis, the third slider moves along the third guide rail 433. The third slider and third guide rail 433 work together to provide guidance and prevent the third motor 4322 from disengaging from the third rack 4321.

[0072] Specifically, the third bracket 431 extends in the horizontal direction, two third guide rails 433 are provided, the second motor 4222 is located between the two third guide rails 433, and the motor shaft of the third motor 4322 extends parallel to the Z axis.

[0073] In this embodiment, two slots are provided on the platform body 11 , and the two slots are spaced apart along the X-axis direction. In other embodiments, more than two slots are provided on the platform body 11 .

[0074] Specifically, a receiving opening is formed at a slot on the platform body 11, extending through the platform body 11 along the Z axis. A supporting frame 12 is provided along a portion of the circumferential edge of the receiving opening, and the sample box 110 is mounted on the supporting frame 12. The provision of the through receiving opening facilitates the ejection mechanism 20 to eject the sample tube 120 from below the platform body 11.

[0075] A platform bracket 15 is provided at the bottom of the platform body 11 , and the platform bracket 15 is fixedly connected to the third bracket 431 , so that the platform assembly 10 and the shift drive mechanism 40 are connected together, and the structure is compact.

[0076] See also Figure 6 and Figure 7 The platform assembly 10 further includes a limiting structure 13, which includes a push member 131 and a push driving unit. The push member 131 is disposed on one side of the receiving opening, and the push driving unit is capable of driving the push member 131 to move so as to abut against the side of the sample box 110. The push member 131 limits the side of the sample box 110 to prevent the sample box 110 from shaking when the tube is picked up. The push driving unit can be an existing air cylinder or hydraulic cylinder, or a crank slider mechanism, as long as it can achieve linear movement of the push member 131.

[0077] In this embodiment, the push member 131 includes an L-shaped push portion that can abut against two sides of the sample box 110 to make the limiting more stable. Both ends of the push portion are provided with a push protrusion 1311 that abuts against the sample box 110.

[0078] See also Figure 8The platform assembly 10 further includes a cartridge pressing structure 14, which includes a cartridge pressing plate 141 and a cartridge pressing drive 142. The cartridge pressing drive 142 is disposed on the platform body 11 and is capable of driving the cartridge pressing plate 141 to rotate about the first axis 101 between a first position and a second position. In the first position, the cartridge pressing plate 141 abuts against the top of the sample cartridge 110. The cartridge pressing plate 141 limits the top of the sample cartridge 110 to prevent the sample cartridge 110 from shaking when selecting a tube.

[0079] The pressure plate driving unit 142 includes a pressure plate motor 1421, a rotating shaft 1422 and a connecting rod 1423. The pressure plate motor 1421 is connected to the rotating shaft 1422 and can drive the rotating shaft 1422 to rotate around the first axis 101. One end of the connecting rod 1423 is connected to the rotating shaft 1422, and the other end is connected to the pressure box plate 141, so that when the rotating shaft 1422 rotates, it drives the pressure box plate 141 to rotate.

[0080] In this embodiment, the first axis 101 extends parallel to the X-axis, and one box pressing plate 141 can simultaneously press two sample boxes 110. It is understood that the box pressing plate 141 is provided with an escape opening for evading the sample tubes 120.

[0081] The barcode scanning component 50 can be an existing barcode scanner, which can scan and identify the barcode on the tube of the sample tube 120. The barcode can be a one-dimensional code or a two-dimensional code. The barcode scanner is an existing structure with a generally fan-shaped scanning range that can cover all sample tubes 120 in the sample box 110, so there is no need to set a separate scanning position.

[0082] The above-mentioned tube picking device can be used to pick tubes and scan codes. When picking tubes, the sample tube 120 in one sample box 110 can be transferred to another sample box 110. First, the visual camera 200 locates the position of the designated sample tube 120 to be transferred. The shift drive mechanism 40 operates the X-axis shift component 43 and the Y-axis shift component 42 to synchronously move the rotary clamping mechanism 30 and the ejection mechanism 20 to a position directly opposite the sample tube 120. The ejection motor 221 is operated to cause the ejection rod 21 to move upward along the Z axis to eject the designated sample tube 120 to a first height. The first motor 4122 is operated to cause the rotary clamping mechanism 30 to move downward until the sample tube 120 is inserted between the two clamping jaws 321. The clamping jaws 321 grasp the sample tube 120. The first motor 4122 is operated to cause the rotary clamping mechanism 30 to move upward until the sample tube 120 is separated from the sample box 110. At the same time, the ejection motor 221 can be operated to cause the ejection rod 21 to move downward along the Z axis to separate from the sample box 110.

[0083] If the barcode is within the scanning range of the barcode scanning component 50, the rotating jaw mechanism 30 does not need to rotate the sample tube 120, and the barcode scanning component 50 can successfully scan the barcode. If the barcode is not within the scanning range of the barcode scanning component 50, the rotating jaw mechanism 30 rotates the sample tube 120 to move the barcode into the scanning range, facilitating scanning by the barcode scanning component 50. Specifically, after the rotating jaw mechanism 30 grasps the sample tube 120, it waits for a first set time. If a signal of successful scanning is received, the rotating jaw mechanism 30 does not need to rotate. Otherwise, the rotating jaw mechanism 30 rotates the sample tube 120 until a signal of successful scanning is received, at which point the rotating jaw mechanism 30 stops rotating the sample tube 120. The first set time can be set according to actual needs, for example, 2 seconds.

[0084] During the process of the rotating clamping mechanism 30 clamping and driving the sample tube 120 to move, the barcode scanning component 50 is always kept in the scanning state, so that the barcode information can be scanned and identified.

[0085] Then, the second motor 4222 and the third motor 4322 are operated to move the rotary clamping mechanism 30 to a target position above another sample box 110 , and the first motor 4122 is operated to move the rotary clamping mechanism 30 downward until the sample tube 120 is inserted into the sample box 110 .

[0086] This embodiment further provides a sample storage device comprising a housing, a transfer device, and the aforementioned tube picking device. The housing comprises a storage compartment and a tube picking compartment, the storage compartment and the tube picking compartment being interconnected. The tube picking device is disposed in the tube picking compartment. The transfer device is configured to transfer sample boxes 110 between the tube picking compartment and the storage compartment. The transfer device can utilize an existing sample tube transfer mechanism, and its structure and operating principle are not described in detail herein.

[0087] The above embodiments merely illustrate the basic principles and features of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications are possible without departing from the spirit and scope of the present invention. Such changes and modifications are within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipe lifting device, characterized in that: include: A platform assembly (10) includes a platform body (11), wherein the platform body (11) is provided with at least two slots, each of which is capable of accommodating a sample box (110); a rotating clamping mechanism (30), which is disposed above the platform body (11) and is capable of clamping the sample tube (120) in the sample box (110), and the rotating clamping mechanism (30) is capable of driving the sample tube (120) to rotate; a shift drive mechanism (40) connected to the rotating clamp mechanism (30) and capable of driving the rotating clamp mechanism (30) to move along the X-axis, the Y-axis, and the Z-axis to move the sample tube (120) from one sample box (110) to another sample box (110); A barcode scanning component (50) is arranged on one side of the slot, and the barcode scanning component (50) can scan the barcode on the sample tube (120) clamped by the rotating clamping mechanism (30).

2. The pipe lifting device according to claim 1, characterized in that: The shift drive mechanism (40) comprises a Z-direction shift component (41), a Y-direction shift component (42) and an X-direction shift component (43); the Z-direction shift component (41) is connected to the rotating clamping mechanism (30) and is used to drive the rotating clamping mechanism (30) to move along the Z-axis; the Y-direction shift component (42) is connected to the Z-direction shift component (41) and is used to drive the Z-direction shift component (41) to move along the Y-axis; and the X-direction shift component (43) is connected to the Y-direction shift component (42) and is used to drive the Y-direction shift component (42) to move along the X-axis.

3. The pipe lifting device according to claim 2, characterized in that: The Z-direction displacement assembly (41) comprises a first bracket (411) and a first driving portion, wherein the first driving portion is arranged on the first bracket (411), the first driving portion is connected to the rotating clamping mechanism (30) and is used to drive the rotating clamping mechanism (30) to move along the Z axis, and the Y-direction displacement assembly (42) is connected to the first bracket (411).

4. The pipe lifting device according to claim 3, characterized in that: The first driving part includes a first rack (4121), a first motor (4122) and a first gear (4123), the first rack (4121) extends parallel to the Z axis and is fixedly arranged on the first bracket (411), the first motor (4122) is connected to the rotating clamping mechanism (30) through a first adapter frame (4124), and the first gear (4123) is connected to the motor shaft of the first motor (4122) and meshes with the first rack (4121).

5. The pipe lifting device according to claim 4, characterized in that: The Z-axis displacement assembly (41) further includes a first guide portion, the first guide portion including a first guide rail (413) and a first slider, the first guide rail (413) extending parallel to the Z axis and fixedly arranged on the first bracket (411), the first slider slidingly arranged on the first guide rail (413), and the first adapter frame (4124) and the rotating clamping mechanism (30) are both fixedly connected to the first slider.

6. The pipe lifting device according to claim 1, characterized in that: The device further comprises an ejection mechanism (20), which is arranged below the platform body (11) and is capable of ejecting the sample tube (120) in the sample box (110) upwards.

7. The pipe lifting device according to any one of claims 1 to 6, characterized in that: The platform body (11) is provided with a receiving opening at the slot position and passes through the platform body (11) along the Z axis, and a carrying frame (12) is provided on part of the circumferential edge of the receiving opening, and the sample box (110) is mounted on the carrying frame (12).

8. The pipe lifting device according to claim 7, characterized in that: The platform assembly (10) further includes a limiting structure (13), wherein the limiting structure (13) includes a push member (131) and a push driving portion, wherein the push member (131) is arranged on one side of the accommodating opening, and the push driving portion is capable of driving the push member (131) to move so as to abut against the side surface of the sample box (110).

9. The pipe lifting device according to any one of claims 1 to 6, characterized in that: The platform assembly (10) further includes a box pressing structure (14), the box pressing structure (14) including a box pressing plate (141) and a plate pressing driving unit (142), the plate pressing driving unit (142) being arranged on the platform body (11) and capable of driving the box pressing plate (141) to rotate around a first axis (101) between a first position and a second position, and the box pressing plate (141) abuts against the top of the sample box (110) when in the first position.

10. A sample storage device, characterized in that: include: The box body has a storage room and a pipe-hanging room inside, and the storage room is connected to the pipe-hanging room; The pipe lifting device according to any one of claims 1 to 9, arranged in the pipe lifting room; A transfer device is used to transfer the sample box (110) between the tube picking room and the storage room.

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