Sowing type sample storing and taking system

Abstract

The utility model relates to the field of biological sample storage, in particular to a seeding type sample access system. The storage system comprises a mobile robot, a storage tank and an uncovering module; the mobile robot comprises an access module, a first mobile module, a second mobile module and a base; the uncovering module comprises a mechanical guide rail and an uncovering manipulator assembly; and the second moving module comprises a first-stage moving part and a second-stage moving part. The storage area and the mechanical execution area are effectively separated, the mechanical arm uncovering assembly is used for moving on the mechanical guide rail to uncover different storage tanks, the mobile robot can directly achieve storing and taking operation when reaching the positions of the corresponding storage tanks, the automatic utilization rate is increased, and the working efficiency is improved. Resource waste and energy consumption caused by vacancy of equipment are reduced, the sample access efficiency is improved, and the ever-increasing sample storage requirements are met.

Description

Technical Field

[0001] The utility model relates to the field of biological sample storage, in particular to a seeding type sample storage and access system. Background Art

[0002] Existing biological specimen storage systems are designed to meet the long-term preservation needs of biomedical research and clinical diagnostics. These systems typically utilize cryogenic freezing technology to maintain the biological activity and stability of samples. They include various types of freezers, ultra-low temperature refrigerators, and automated sample management systems. These devices play a vital role in the protection, classification, and retrieval of biological specimens, providing crucial support for scientific research and medical work.

[0003] However, although the existing systems have made progress in some aspects, they still have some obvious shortcomings. First, the capacity of many stand-alone storage devices is fixed, which makes it difficult to adapt to the growing demand for sample storage, and the cost of subsequent capacity expansion is high. Secondly, the utilization rate of the automated components of automated storage equipment is not high, resulting in waste of resources and high energy consumption. In addition, these devices are often bulky and have specific requirements for storage sites, which limits their application in places with limited space or old places. Not only that, the maintenance and repair process of these devices is complicated, and when the equipment fails, it is difficult to quickly switch to manual mode for intervention. Finally, the existing system has limited capabilities in transfer and disaster recovery. The entire machine is inconvenient to enter and exit, and needs to be disassembled, which not only increases the complexity of operation, but may also cause damage to samples. Utility Model Content

[0004] In order to solve some problems existing in the prior art, the purpose of the present invention is to provide a seeding-type sample access system to improve the utilization rate of automation and reduce the waste of resources and energy consumption.

[0005] To achieve the above-mentioned purpose, the utility model provides a seeding-type sample storage and retrieval system, comprising a mobile robot, a storage tank and a cover opening module;

[0006] The mobile robot includes an access module, a first mobile module, a second mobile module and a base; the base is mounted on the first mobile module, the second mobile module is mounted on the base, and the access module is mounted on the second mobile module;

[0007] The cover opening module includes a mechanical guide rail and a cover opening robot assembly; the cover opening robot assembly is slidably mounted on the mechanical guide rail;

[0008] The storage tank is arranged below the mechanical guide rail, and the cover opening robot assembly can move above the storage tank to open the tank cover of the storage tank;

[0009] The second moving module includes a primary moving part, a secondary moving part and a lifting part. The primary moving part is arranged on the lifting part, and the secondary moving part is arranged on the primary moving part. The primary moving part and the secondary moving part have different moving directions.

[0010] Preferably, the primary moving part includes a first moving motor, a first gear, a first guide rail assembly, a first rack, and a primary moving plate; the first moving motor is fixed to the lifting part, the first gear is mounted on the output end of the first moving motor, the first rack is mounted on the primary moving plate, the first rack is meshed with the first gear, and the first guide rail assembly is disposed between the primary moving plate and the lifting part, for guiding the primary moving plate to move back and forth horizontally on the lifting part;

[0011] The first moving motor drives the primary moving plate to move in the forward or backward direction of the first moving module.

[0012] Preferably, the secondary moving part includes a second moving motor, a second gear, a second guide rail assembly, a second rack and a secondary moving plate; the second moving motor is fixed to the secondary moving plate, the second gear is mounted on the output end of the second moving motor, the second rack is mounted on the secondary moving plate, the second gear and the second rack are meshed, and the second guide rail assembly is arranged between the secondary moving plate and the primary moving plate, for guiding the secondary moving plate to move back and forth horizontally on the primary moving plate;

[0013] The second moving motor drives the secondary moving plate to move laterally toward the first moving module.

[0014] Preferably, the lifting part includes multiple screw elevators, lifting flanges, lifting fixed plates, transmission rods and lifting motors; multiple screw elevators are fixed on the base, and each screw elevator is equipped with the lifting flange; the lifting fixed plate is fixed on the lifting flange, and the primary moving part is fixed on the lifting fixed plate; the transmission rod is used to connect the lifting motor and the multiple screw elevators; the lifting motor drives the multiple screw elevators to rise and fall synchronously through the transmission rod, and the lifting fixed plate rises and falls accordingly, so that the primary moving part and the secondary moving part fixed on the lifting fixed plate rise and fall at the same time.

[0015] Preferably, the access module further comprises a sample tube gripper, a transfer tank, a basket manipulator, a transfer manipulator, a plate rack manipulator, a plate rack gripper and a liquid nitrogen supply tank;

[0016] The transfer robot is fixed on the secondary movable plate, and the transfer tank is fixed on one side of the transfer robot; the basket carrying robot is fixed on the secondary movable plate; the plate rack clamp is installed on the side of the basket carrying robot, and the sample tube clamp is fixed on the top of the plate rack clamp and can be moved to the top of the transfer tank; the liquid nitrogen supply tank is fixed on the primary movable plate and is located on one side of the basket carrying robot; the plate rack robot is fixed on the secondary movable plate and is located below the plate rack clamp. The grabbing part of the basket carrying robot is provided with a heat preservation structure, and the heat preservation structure is connected to the liquid nitrogen supply tank through a liquid nitrogen pipeline.

[0017] Preferably, the access module further includes a barcode scanner, which is fixed on the secondary movable plate and located on the side of the plate rack manipulator.

[0018] Preferably, the cover opening robot assembly includes a third gear, a fourth gear, a third moving motor, a fourth moving motor, a moving bottom plate, a first rib plate, a second rib plate, a third rack, a fourth rack, a third guide rail assembly, a fourth guide rail assembly, a vertical plate, a hanging plate, a connecting plate and a vertical moving plate;

[0019] The third moving motor is fixed to the moving base plate, the third gear is installed on the output end of the third moving motor, the third rack is installed on the moving base plate, the third gear is engaged with the third rack, the first rib is fixed to the moving base plate, and the third guide rail assembly is arranged between the mechanical guide rail and the moving base plate, for guiding the moving base plate to move back and forth in the horizontal direction on the mechanical guide rail;

[0020] The vertical plate is vertically fixed to the movable base plate through the first rib plate, the fourth guide rail assembly and the fourth rack are installed on the vertical plate and are located on the same side of the vertical plate, and the fourth guide rail assembly is used to guide the vertical movable plate to move back and forth in the vertical direction on the vertical plate;

[0021] The fourth moving motor is fixed to the vertical moving plate, the fourth gear is installed on the output end of the fourth moving motor and meshes with the fourth rack, the second rib plate fixes the hanging plate to the vertical moving plate, and the connecting plate is fixed to the hanging plate;

[0022] The third moving motor drives the cover opening robot assembly to move horizontally on the mechanical guide rail, and the fourth moving motor drives the cover opening robot assembly to move vertically on the mechanical guide rail.

[0023] Preferably, a hook is further installed on the cover opening robot assembly, and the hook is fixed on the connecting plate; and a cover opening groove matching the hook is provided on the tank cover of the storage tank.

[0024] Preferably, the storage tank includes a first synchronous wheel, a second synchronous wheel, a synchronous belt, a rotating motor, a tank cover and a tank body, and a sample storage rack;

[0025] The top of the tank body is provided with a tank opening, the tank cover is placed on the tank opening, the rotating motor is fixed to the tank body, the first synchronous wheel is fixed to the rotating motor, the second synchronous wheel is fixed to the top of the tank body, the synchronous belt is fixed to the first synchronous wheel and the second synchronous wheel, the sample storage rack is arranged in the tank body, and the rotating shaft of the sample storage rack is connected to the second synchronous wheel. The rotating motor drives the first synchronous wheel and the second synchronous wheel to rotate, thereby driving the sample storage rack inside the storage tank to rotate.

[0026] Preferably, a plurality of the storage tanks are provided, and the plurality of storage tanks are arranged in two rows back to back, and each row of storage tanks is provided with a mechanical guide rail and a cover opening robot assembly.

[0027] Compared with the prior art, the present invention has at least the following beneficial effects:

[0028] The seeding-type sample storage and retrieval system provided by the utility model realizes the effective separation of the storage area and the mechanical execution area. The opening operation of different storage tanks is realized by the movement of the manipulator opening cover assembly on the mechanical guide rail, so that the mobile robot can directly realize the access operation when it reaches the corresponding storage tank position, thereby improving the automation utilization rate and reducing the waste of resources and energy consumption caused by equipment vacancy.

[0029] At the same time, the system's highly automated operation can reduce manual intervention, lower the risk of human error, and improve the speed and accuracy of sample processing.

[0030] In addition, the utility model adopts a back-to-back two-row arrangement to maximize the utilization rate of the site and optimize the use of storage space. This layout not only saves space, but also facilitates subsequent capacity expansion to meet the growing demand for sample storage.

[0031] Not only that, the design of the mobile robot adopted in this utility model provides a flexible sample access path, which can adapt to complex storage layouts and ensure fast and accurate access of samples. This autonomous navigation and path planning capability can improve the efficiency of sample access and reduce the waiting time of samples during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the present utility model;

[0034] Figure 2 This is a schematic diagram of a mobile robot in a normal state in a specific embodiment of the present utility model;

[0035] Figure 3 This is a schematic diagram of the working state of the mobile robot in a specific embodiment of the present utility model;

[0036] Figure 4 This is a schematic diagram of the connection structure between the primary moving part and the secondary moving part in a specific embodiment of the utility model;

[0037] Figure 5 This is a structural diagram of a first-level moving part in a specific embodiment of the present utility model;

[0038] Figure 6 This is a schematic structural diagram of the secondary moving part in a specific embodiment of the present utility model;

[0039] Figure 7 This is a schematic diagram of the structure of the lifting part in a specific embodiment of the utility model;

[0040] Figure 8 This is a schematic diagram of the internal structure of the host in a specific embodiment of the present utility model;

[0041] Figure 9 This is an enlarged schematic diagram of the internal structure of the host in a specific embodiment of the present utility model;

[0042] Figure 10 This is a structural diagram of a cover opening module in a specific embodiment of the present utility model;

[0043] Figure 11 This is a structural diagram of the sampling component of the cover opening robot in a specific embodiment of the present utility model;

[0044] Figure 12 This is a schematic diagram of the storage tank structure in a specific embodiment of the present utility model.

[0045] In the figure: 1-mobile robot, 101-second mobile module, 102-first mobile part, 103-secondary mobile part, 104-lifting part, 2-opening module, 201-opening manipulator assembly, 202-mechanical guide rail, 3-storage tank, 4-first mobile module, 5-base, 6-access module, 7-display screen, 8-sample manipulator transfer window, 9-plate rack manipulator, 10-plate rack clamp, 11-sample tube clamp, 12-basket manipulator, 121-fifth mobile motor, 13-barcode scanner, 14-liquid nitrogen supply tank, 15-transfer tank, 16-transfer manipulator, 17-secondary mobile plate, 18-second mobile motor, 19-first gear, 20-first guide rail, 21-first slider, 22-first rack, 23-first mobile motor, 24-second gear, 25-second guide rail , 26-second slider, 27-second rack, 28-first level moving plate, 29-lifting fixed plate, 30-screw elevator, 31-transmission rod, 32-lifting motor, 33-lifting flange, 35-third rack, 36-third guide rail, 37-third slider, 38-third moving motor, 39-third gear, 40-moving bottom plate, 41-first rib plate, 42-vertical plate, 43-fourth guide rail, 44-fourth slider, 45-vertical moving plate, 46-fourth rack, 47-fourth gear, 48-fourth moving motor, 49-second rib plate, 50-hoisting plate, 51-connecting plate, 52-hook, 53-tank cover, 54-tank body, 55-storage tank reference surface, 56-rotating motor, 57-first synchronous wheel, 58-second synchronous wheel, 59-synchronous belt, 60-tank mouth; 61-opening groove. DETAILED DESCRIPTION

[0046] The following is a more detailed description of a seeding-type sample access system of the present invention, with reference to schematic diagrams. These schematic diagrams illustrate preferred embodiments of the present invention. It should be understood that those skilled in the art may modify the present invention as described herein while still achieving the beneficial effects of the present invention. Therefore, the following description should be understood as a general guide for those skilled in the art and not as a limitation of the present invention.

[0047] For the sake of clarity, not all features of actual embodiments are described. In the following description, well-known functions and structures are not described in detail because they would clutter the present invention with unnecessary detail. It should be understood that in the development of any actual embodiment, numerous implementation details must be made to achieve the developer's specific goals, such as adapting from one embodiment to another to accommodate system or business constraints. Furthermore, it should be understood that such development work may be complex and time-consuming, but is nevertheless a routine undertaking for those skilled in the art.

[0048] The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are greatly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention.

[0049] As mentioned in the background technology, the sample storage system used in the prior art uses a single-machine storage device with a fixed capacity, which is difficult to adapt to the growing demand for sample storage, and the cost of subsequent capacity expansion is high. Secondly, the utilization rate of the automated components of the automated storage equipment is not high, resulting in waste of resources and high energy consumption. In addition, these devices are often bulky and have specific requirements for storage sites, which limits their application in places with limited space or old places, and makes maintenance more complicated. Finally, the existing system has limited capabilities in transfer and disaster recovery, and the entire machine is inconvenient to enter and exit, and needs to be disassembled, which not only increases the complexity of the operation, but also may cause damage to the sample. In view of this, the utility model designs a seeding-type sample access system that separates the storage area and the mechanical execution area and has a high automation utilization rate.

[0050] See also Figure 1 、 Figure 2 and Figure 3 The seeding-type sample access system includes a mobile robot 1, a cover opening module 2 and a storage tank 3.

[0051] Specifically, the mobile robot 1 includes a first mobile module 4 , a second mobile module 101 , a base 5 and an access module 6 ; the second mobile module 101 is mounted on the base 5 , and the access module 6 is mounted on the second mobile module 101 .

[0052] In addition, the lid opening module 2 includes a lid opening robot assembly 201 and a mechanical guide rail 202, and the lid opening robot assembly 201 is slidably installed on the mechanical guide rail 202; the storage tank 3 is arranged below the mechanical guide rail 202, and the lid opening robot assembly 201 can move to the top of the storage tank 3 to open the tank lid 53 of the storage tank.

[0053] Specifically, a storage tank reference surface 55 is provided on the storage tank 3 , and the cover opening module 2 is installed on the storage tank reference surface 55 , thereby ensuring its installation accuracy and ensuring that the reference of each storage tank is consistent.

[0054] In this example, see Figure 4The second moving module 101 includes a primary moving part 102, a secondary moving part 103 and a lifting part 104. The primary moving part 102 is arranged on the lifting part 104, and the secondary moving part 103 is arranged on the primary moving part 102; the moving directions of the primary moving part 102 and the secondary moving part 103 are different.

[0055] In one embodiment, see Figure 5 The first-level moving part 102 includes a first moving motor 23, a first gear 24, a first guide rail assembly, a first rack 27 and a first moving plate 28; the first moving motor 23 is fixed to the lifting part 104, the first gear 27 is installed on the output end of the first moving motor 23, the first rack 27 is installed on the first moving plate 28, the first rack 27 is meshed with the first gear 24, the first guide rail assembly is arranged between the first moving plate 28 and the lifting part 104, the first guide rail assembly includes two first guide rails 20 arranged parallel to the first rack 27 and a first slider 21 slidably connected to the first guide rails 20, the first rack 27 is located between the two first guide rails 20, the first guide rail 20 is installed on the first moving plate 28, the first slider 21 is fixedly connected to the lifting part 104, and the first guide rail assembly is arranged to guide the first moving plate 28 to move back and forth horizontally on the lifting part 104.

[0056] In one embodiment, see Figure 6 The secondary moving part 103 includes a second moving motor 18, a second gear 19, a second guide rail assembly, a second rack 22 and a secondary moving plate 17; the second moving motor 18 is fixed on the secondary moving plate 17, the second gear 22 is installed on the output end of the second moving motor 18, the second rack 22 is installed on the secondary moving plate 17, the second gear 19 and the second rack 22 are meshed, the second guide rail assembly is arranged between the secondary moving plate 17 and the primary moving plate 28, the second guide rail assembly includes two second guide rails 20 arranged parallel to the second rack 22 and a second slider 21 slidably connected to the second guide rails 20, the second rack 22 is located between the two second guide rails 20, the second guide rail 20 is installed on the secondary moving plate 17, and the second slider 21 is fixedly connected to the primary moving plate 28; through the setting of the second guide rail assembly, the secondary moving plate 17 is guided to move back and forth horizontally on the primary moving plate 28.

[0057] Specifically, when the second movement motor 18 is activated, the secondary movement plate 17 moves laterally toward the first movement module 4. Since the components of the access module 6 fixed to the secondary movement plate 17 also move with the movement of the secondary movement plate 17, it can dock with the tank opening and complete sample storage. Simultaneously, when the first movement motor 23 is activated, it can drive the primary movement plate 28 to move forward or backward toward the first movement module 4, achieving multi-directional control of the mobile robot and further improving alignment accuracy.

[0058] In one embodiment, see Figure 7 The lifting part 105 includes multiple screw elevators 30, a lifting flange 33, a lifting fixed plate 29, a transmission rod 31 and a lifting motor 32; multiple screw elevators 30 are fixed on the base 5, and each screw elevator 30 is installed with the lifting flange 33; the lifting fixed plate 29 is fixed on the lifting flange 33, and the primary moving part 102 is fixed on the lifting fixed plate 29; the transmission rod 31 is used to connect the lifting motor 32 and multiple screw elevators 30; the lifting motor 32 drives the multiple screw elevators 30 to rise and fall synchronously through the transmission rod 31, and the lifting fixed plate 29 rises and falls accordingly, so that the primary moving part 102 and the secondary moving part 103 fixed on the lifting fixed plate 29 rise and fall at the same time.

[0059] In a specific embodiment, see Figure 8 and Figure 9 The access module 6 includes a plate rack manipulator 9, a plate rack clamp 10, a sample tube clamp 11, a basket manipulator 12, a barcode scanner 13, a liquid nitrogen supply tank 14, a transfer tank 15 and a transfer manipulator 16. The transfer robot 16 is fixed on the secondary movable plate 17, and the transfer tank 15 is fixed on one side of the transfer robot 16; the basket carrying robot 12 is fixed on the secondary movable plate 17; a fifth moving motor 121 is fixed to one side of the basket carrying robot 12 by screws, and the fifth moving motor controls the basket carrying robot 12 to realize the basket carrying operation; the grasping part of the basket carrying robot 12 is provided with an insulation structure, and the insulation structure is connected to the liquid nitrogen supply tank 14 through a liquid nitrogen pipeline; the plate rack clamp 10 is installed on the side of the basket carrying robot 12, and the sample tube clamp 11 is fixed on the top of the plate rack clamp 10 and can be moved to above the transfer tank 15; the liquid nitrogen supply tank 14 is fixed on the primary movable plate 28 and is located on one side of the basket carrying robot 12; the plate rack robot 9 is fixed on the secondary movable plate 17 and is located below the plate rack clamp 10; the code scanner 13 is fixed on the secondary movable plate 17 and is located on the side of the plate rack robot 9.

[0060] The plate rack gripper 10 is used to grab the plate rack for storing samples, and the plate rack manipulator 9 is used to push the plate rack in or out of the basket; the transfer tank 15 is used to store samples, and the sample tube gripper 11 can grab the sample tube and move it to the top of the transfer tank 15 to realize the access operation; the basket manipulator 12 is used to take out the basket for storing samples inside the storage tank; the transfer manipulator 16 can transfer the sample; the barcode scanner 13 can read the barcode information of the sample to determine the type and storage information of the sample; the liquid nitrogen supply tank 14 is used to provide liquid nitrogen to maintain a low-temperature storage environment for the sample.

[0061] In this example, see Figure 2 The storage and access module 6 is provided with a display screen 7 and a sample manipulator transfer window 8. The display screen 7 is used to display the storage system's operating status, sample information, and operating instructions in real time, making it easier for users to monitor and manage the sample storage process. The sample manipulator transfer window 8 is connected to the internal transfer manipulator 16, allowing users to manually deposit or remove samples from the transfer manipulator 16 through the sample manipulator transfer window 8.

[0062] Specifically, this embodiment provides two sample removal methods. To remove the entire rack of sample tubes, the basket manipulator 12 lifts the basket from the storage tank 3. The rack manipulator 9 then pushes the rack at the corresponding position on the basket. The rack gripper 10 then removes the rack and moves it to the transfer tank 15 for storage. To remove only a single sample tube or a small number of sample tubes, the rack gripper 10 removes the rack and remains stationary. The sample tube gripper 11 removes the sample tube fixed on the rack and moves it to the transfer tank 15 for storage.

[0063] If the sample tube needs to be stored in the storage tank 3, the sample tube is placed on the plate rack, and the plate rack is moved to the plate rack manipulator 9 by the plate rack clamp 10. The plate rack manipulator 9 pushes the plate rack into the basket, and the basket is then stored in the storage tank 3 through the basket manipulator 12.

[0064] In one embodiment, see Figure 10 and Figure 11 The cover opening robot assembly 201 includes a third gear 39, a fourth gear 47, a third moving motor 38, a fourth moving motor 48, a moving base plate 40, a first rib plate 41, a second rib plate 49, a vertical moving plate 45, a third gear 39, a fourth gear 47, a third rack 35, a fourth rack 46, a third guide rail assembly, a fourth guide rail assembly, a vertical plate 42, a lifting plate 50 and a connecting plate 51.

[0065] The third moving motor 38 is fixed on the moving base plate 40, the third gear 39 is installed on the output end of the third moving motor 38, the third rack 35 is installed on the moving base plate 40, the third gear 39 is engaged with the third rack 35, the first rib 41 is fixed on the moving base plate 40, and the third guide rail assembly is arranged between the mechanical guide rail 202 and the moving base plate 40. The third guide rail assembly includes a third guide rail 36 fixed on the mechanical guide rail 202 and a third slider 37 slidably connected to the third guide rail 36. The third guide rail 36 is fixed on the mechanical guide rail 202 along the length direction of the mechanical guide rail 202, and the third slider 37 is fixedly connected to the moving base plate 40. Through the setting of the third guide rail assembly, the moving base plate 40 is guided to move back and forth in the horizontal direction on the mechanical guide rail 202;

[0066] The vertical plate 42 is vertically fixed to the movable base plate 40 by the first rib plate 41. The fourth guide rail assembly and the fourth rack 46 are installed on the vertical plate 42 and are located on the same side of the vertical plate 42. The fourth guide rail assembly includes a fourth guide rail 43 and a fourth slider 44 slidably mounted with the fourth guide rail. The fourth guide rail 43 is vertically fixed on the vertical plate 42. The fourth slider 44 is fixedly connected to the vertical movable plate 45. Through the setting of the fourth guide rail assembly, the vertical movable plate 45 is guided to move back and forth in the vertical direction on the vertical plate 42;

[0067] The fourth moving motor 48 is fixed on the vertical moving plate 45, the fourth gear 47 is installed on the output end of the fourth moving motor 48 and engages with the fourth rack 46, the second rib plate 49 fixes the hanging plate 50 on the vertical moving plate 45, and the connecting plate 51 is fixed on the hanging plate 50.

[0068] In this embodiment, a hook 52 is installed on the lid opening robot assembly 201, and a lid opening groove 61 matching the hook is provided on the storage tank. The storage tank 3 includes a first synchronous wheel 57, a second synchronous wheel 58, a synchronous belt 59, a rotating motor 56, a tank body 54, a tank cover 53 and a sample storage rack (not shown in the figure).

[0069] Specifically, a tank opening 60 is opened on the top of the tank body 54, and the tank cover 53 is placed on the tank opening 60. The lid opening robot 201 moves vertically downward to the lid opening position, so that the hook 52 is engaged with the lid opening groove 61, and then moves upward, thereby driving the tank cover 53 to separate from the tank opening 60.

[0070] In one embodiment, see Figure 12The rotary motor 56 is fixed to the tank body 54, the first synchronous wheel 57 is fixed to the rotary motor 56, the second synchronous wheel 58 is fixed to the top of the tank body 54, the synchronous belt 59 is fixed to the first synchronous wheel 57 and the second synchronous wheel 58, the sample storage rack is arranged in the tank body 54, and the rotating shaft of the sample storage rack is connected to the second synchronous wheel 58. The rotary motor 56 drives the rotation of the first synchronous wheel 57 and the second synchronous wheel 58, thereby driving the internal sample storage rack of the storage tank 3 to rotate.

[0071] In a specific embodiment, a plurality of storage tanks 3 are provided, and the plurality of storage tanks 3 are arranged in two rows back to back. Each row of storage tanks 3 is provided with a mechanical guide rail 202 and a cover opening robot assembly 201 to realize multi-station operation.

[0072] In summary, the seeding-type sample access system proposed in this embodiment realizes the effective separation of the storage area and the mechanical execution area, and uses the manipulator opening cover assembly to move on the mechanical guide rail to realize the opening operation of different storage tanks, so that when the mobile robot reaches the corresponding storage tank position, it can directly perform the access operation, thereby improving the automation utilization rate and reducing the waste of resources and energy consumption caused by the vacant equipment. At the same time, the highly automated operation of the system reduces manual intervention, reduces the risk of human error, and improves the speed and accuracy of sample processing. In addition, the back-to-back two-column arrangement adopted by the utility model maximizes the utilization rate of the site, so that the storage space is optimized. This layout not only saves space, but also facilitates the subsequent capacity expansion to meet the growing demand for sample storage. In addition, the design of the mobile robot adopted by the utility model provides a flexible sample access path, which can adapt to complex storage layouts and ensure that samples are accessed quickly and accurately. This autonomous navigation and path planning capability improves the efficiency of sample access and reduces the waiting time of samples during transportation.

[0073] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art who, without departing from the scope of the present invention, makes any equivalent substitution, modification, or other variation to the technical solution and technical content disclosed herein shall be deemed to fall within the scope of the present invention and remain within the scope of protection of the present invention.

Claims

1. A seeding sample access system, characterized in that: Includes mobile robot, storage tank and lid opening module; The mobile robot includes an access module, a first mobile module, a second mobile module and a base; the base is mounted on the first mobile module, the second mobile module is mounted on the base, and the access module is mounted on the second mobile module; The cover opening module includes a mechanical guide rail and a cover opening robot assembly; the cover opening robot assembly is slidably mounted on the mechanical guide rail; The storage tank is arranged below the mechanical guide rail, and the cover opening robot assembly can move above the storage tank to open the tank cover of the storage tank; The second moving module includes a primary moving part, a secondary moving part and a lifting part. The primary moving part is arranged on the lifting part, and the secondary moving part is arranged on the primary moving part. The primary moving part and the secondary moving part have different moving directions.

2. The seeding sample access system according to claim 1, characterized in that: The primary moving part includes a first moving motor, a first gear, a first guide rail assembly, a first rack and a primary moving plate; the first moving motor is fixed to the lifting part, the first gear is installed on the output end of the first moving motor, the first rack is installed on the primary moving plate, the first rack is meshed with the first gear, and the first guide rail assembly is arranged between the primary moving plate and the lifting part, for guiding the primary moving plate to move back and forth in the horizontal direction on the lifting part; The first moving motor drives the primary moving plate to move in the forward or backward direction of the first moving module.

3. The seeding sample access system according to claim 1, characterized in that: The secondary moving part includes a second moving motor, a second gear, a second guide rail assembly, a second rack and a secondary moving plate; the second moving motor is fixed to the secondary moving plate, the second gear is mounted on the output end of the second moving motor, the second rack is mounted on the secondary moving plate, the second gear and the second rack are meshed, and the second guide rail assembly is arranged between the secondary moving plate and the primary moving plate, for guiding the secondary moving plate to move back and forth horizontally on the primary moving plate; The second moving motor drives the secondary moving plate to move laterally toward the first moving module.

4. The seeding sample access system according to claim 1, characterized in that: The lifting part includes a plurality of screw elevators, a lifting flange, a lifting fixed plate, a transmission rod and a lifting motor; the plurality of screw elevators are fixed on the base, and each of the screw elevators is installed with the lifting flange; the lifting fixed plate is fixed on the lifting flange, and the primary moving part is fixed on the lifting fixed plate; The transmission rod is used to connect the lifting motor and the multiple screw elevators; the lifting motor drives the multiple screw elevators to rise and fall synchronously through the transmission rod, and the lifting fixed plate rises and falls accordingly, so that the primary moving part and the secondary moving part fixed on the lifting fixed plate rise and fall at the same time.

5. The seeding sample access system according to claim 3, characterized in that: The access module includes a sample tube gripper, a transfer tank, a basket manipulator, a transfer manipulator, a plate rack manipulator, a plate rack gripper and a liquid nitrogen supply tank; The transfer robot is fixed on the secondary movable plate, and the transfer tank is fixed on one side of the transfer robot; the basket carrying robot is fixed on the secondary movable plate; the plate rack clamp is installed on the side of the basket carrying robot, and the sample tube clamp is fixed on the top of the plate rack clamp and can be moved to the top of the transfer tank; the liquid nitrogen supply tank is fixed on the primary movable plate and is located on one side of the basket carrying robot; the plate rack robot is fixed on the secondary movable plate and is located below the plate rack clamp. The grabbing part of the basket carrying robot is provided with a heat preservation structure, and the heat preservation structure is connected to the liquid nitrogen supply tank through a liquid nitrogen pipeline.

6. The seeding sample access system according to claim 5, characterized in that: The access module further includes a code scanner, which is fixed on the secondary movable plate and located on the side of the plate rack manipulator.

7. The seeding sample access system according to claim 1, characterized in that: The cover opening robot assembly includes a third gear, a fourth gear, a third moving motor, a fourth moving motor, a moving bottom plate, a first rib plate, a second rib plate, a third rack, a fourth rack, a third guide rail assembly, a fourth guide rail assembly, a vertical plate, a hanging plate, a connecting plate and a vertical moving plate; The third moving motor is fixed to the moving base plate, the third gear is installed on the output end of the third moving motor, the third rack is installed on the moving base plate, the third gear is engaged with the third rack, the first rib is fixed to the moving base plate, and the third guide rail assembly is arranged between the mechanical guide rail and the moving base plate, for guiding the moving base plate to move back and forth in the horizontal direction on the mechanical guide rail; The vertical plate is vertically fixed to the movable base plate through the first rib plate, the fourth guide rail assembly and the fourth rack are installed on the vertical plate and are located on the same side of the vertical plate, and the fourth guide rail assembly is used to guide the vertical movable plate to move back and forth in the vertical direction on the vertical plate; The fourth moving motor is fixed on the vertical moving plate, the fourth gear is installed on the output end of the fourth moving motor and meshes with the fourth rack, the second rib plate fixes the hanging plate on the vertical moving plate, and the connecting plate is fixed on the hanging plate.

8. The seeding sample access system according to claim 7, characterized in that: The lid opening robot assembly is further provided with a hook, which is fixed on the connecting plate; the tank lid of the storage tank is provided with a lid opening groove that matches the hook.

9. The seeding sample access system according to claim 1, characterized in that: The storage tank includes a first synchronous wheel, a second synchronous wheel, a synchronous belt, a rotating motor, a tank cover, a tank body and a sample storage rack; The top of the tank body is provided with a tank opening, the tank cover is placed on the tank opening, the rotating motor is fixed to the tank body, the first synchronous wheel is fixed to the rotating motor, the second synchronous wheel is fixed to the top of the tank body, the synchronous belt is fixed to the first synchronous wheel and the second synchronous wheel, the sample storage rack is arranged in the tank body, and the rotating shaft of the sample storage rack is connected to the second synchronous wheel. The rotating motor drives the first synchronous wheel and the second synchronous wheel to rotate, thereby driving the sample storage rack inside the storage tank to rotate.

10. The seeding sample access system according to claim 1, characterized in that: There are multiple storage tanks arranged in two rows back to back, and each row of storage tanks is provided with a mechanical guide rail and a cover opening robot assembly.

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