Automatic freeze-drying equipment and automatic preparation system

Abstract

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

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automation equipment, in particular to the technical field of pharmaceutical and chemical automation equipment, and more particularly to an automated freeze-drying equipment and an automated preparation system. BACKGROUND

[0002] A freeze dryer is a low-temperature drying module that uses sublimation principle to dehydrate materials, and is widely used in the fields of medicine, chemical industry, etc. However, the traditional freeze dryer has low automation level and transfer efficiency, high labor cost, or limited adaptability, such as being unable to be applied to laboratory field, and the existing freeze dryer has problems of high labor participation and low production efficiency in use. CONTENT OF THE INVENTION

[0003] To solve the above technical problems, the present disclosure provides an automated freeze-drying equipment and an automated preparation system, so as to improve the operation production efficiency and reduce the labor participation.

[0004] The present disclosure provides an automated freeze-drying equipment, comprising: a rack; a freeze dryer disposed on the rack and used for freeze-drying of samples; and an intelligent operation module disposed on the rack; wherein the intelligent operation module comprises a ground rail, a robot, a weighing module, and a labeling machine, the robot is disposed on the ground rail and can move along the ground rail for material transfer, the weighing module is used for weighing of materials, the materials include samples and containers for containing the samples, and the labeling machine is used for labeling the containers for containing the samples to record and / or track information of the containers and the samples.

[0005] In some embodiments, the intelligent operation module further comprises an exchange warehouse and a positioning two-dimensional code position for positioning of an external mobile device, the positioning two-dimensional code position comprises two electronic two-dimensional codes located on both sides of the exchange warehouse.

[0006] In some embodiments, the intelligent operation module further comprises a tool rack and a temporary storage test tube rack disposed adjacent to the exchange warehouse, the tool rack is used for placing at least one of a tray gripper, a concentrated bottle gripper, and a test tube gripper.

[0007] In some embodiments, the robot is provided with a first quick-change joint, the tray gripper, the concentrated bottle gripper, and / or the test tube gripper is provided with a second quick-change joint, and the first quick-change joint and the second quick-change joint are matched and detachably connected.

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

[0009] In some embodiments, the intelligent operation module further comprises a weighing recorder adjacent to the weighing module, the weighing recorder is used for identifying weighed materials and recording weights of the corresponding materials.

[0010] In some embodiments, the weighing module is provided with an outer cover around the four sides, and the top of the weighing module is provided with an outer cover door that can be automatically opened and closed. When the material is identified to be close, the outer cover door is automatically opened. After the material is placed on the weighing module, the outer cover door is automatically closed. After the weighing of the material is completed, the outer cover door is automatically opened.

[0011] In some embodiments, the labeling machine comprises a label printing module and a rotary labeling module connected to the label printing module. The rotary labeling module comprises an idler wheel, a torsional spring, a horizontal support seat, a vertical support seat, and a limiting block. The idler wheel is installed on the horizontal support seat and can rotate relative to the horizontal support seat. The horizontal support seat is rotatably connected to the vertical support seat. The main body portion of the torsional spring is installed on the horizontal support seat. One side extension end of the torsional spring abuts against the limiting block, and the other side extension end of the torsional spring abuts against the vertical support seat. The limiting block is arranged on the horizontal support seat.

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

[0013] In some embodiments, the weighing module comprises a one-hundredth scale and / or a ten-thousandth scale.

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

[0015] The present disclosure also provides an automated preparation system comprising a mobile device and the above-mentioned automated freeze-drying device. The mobile device is used to take and place materials in the exchange bin of the automated freeze-drying device.

[0016] The present disclosure sets a ground rail on the rack and sets the robot on the ground rail. The robot can move along the ground rail. In this way, the work efficiency is improved, the labor cost is reduced, the possibility of collision between the robot and other modules is reduced by the setting of the ground rail, the degree of freedom of the setting position of the modules is widened, the material transmission efficiency can be further improved, and the whole process automation and unmanned of the sample freeze-drying treatment is realized. In addition, by setting the weighing module and the labeling machine, the information of the sample container can be bound by the labeling of the labeling machine. Then, the weight of the sample container and the sample before and after freeze-drying is weighed by the weighing module. In this way, the weight change of the freeze-dried sample can be known by the automated freeze-drying device of the present disclosure. The material transmission between the weighing module, the labeling machine, and the freeze-drying machine is performed by the robot, and the freeze-drying efficiency and the intelligent operation level are improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1A perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure is shown.

[0018] Figure 2 A perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure is shown.

[0019] Figure 3 A perspective view of a gripper according to some embodiments of the present disclosure is shown.

[0020] Figure 4 A perspective view of a labeling machine according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0021] The following examples can enable those skilled in the art to more completely understand the present disclosure, but in no way limit the present disclosure.

[0022] Figure 1 and Figure 2 A perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure is shown. Reference is made to FIG. 1, which shows a perspective view of an automated freeze-drying apparatus according to some embodiments of the present disclosure. Figure 1 and Figure 2 In some embodiments, the automated freeze-drying apparatus of the present disclosure comprises a rack 4, a freeze-drying machine 1, and an intelligent operation module. In some embodiments, the rack 4 can be formed of suitable materials such as stainless steel and resin materials. In some embodiments, an outer cover 2 can be formed on the rack 4, so that the rack 4 and the outer cover 2 form a relatively independent containing space, which is conducive to the maintenance of the operating environment. In some embodiments, the shape and size of the rack 4 can be designed according to actual needs, and is generally rectangular or cuboid, but the present disclosure is not limited thereto. In some embodiments, the outer cover 2 is provided with an automatic lifting door 3 and a side door 5.

[0023] In some embodiments, the freeze-drying machine 1 is arranged on the rack 4 and is used for freeze-drying of samples. In some embodiments, there are 2 layers of shelves with a total of 18 tray placement positions in the freeze-drying machine 1, but this is only exemplary, and other suitable numbers of shelf layers and tray placement positions can also be used. In some embodiments, the door of the freeze-drying machine 1 is an automatic door, which is automatically opened when the tray is placed into the freeze-drying machine 1, and is automatically closed when the freeze-drying machine shelf is pushed to the freeze-drying position, and the freeze-drying machine 1 starts freeze-drying.

[0024] In some embodiments, the sample is a biological sample, a pharmaceutical sample, or a chemical sample. When the sample is a pharmaceutical sample, it can be a Western medicine sample, a traditional Chinese medicine sample, or other drug samples with medicinal effects, etc. For example, the traditional Chinese medicine sample includes traditional Chinese medicinal materials, traditional Chinese medicine decoction pieces, Chinese patent medicines, semi-finished traditional Chinese medicines, and medicinal plants, etc.

[0025] In some embodiments, the lyophilizer 1 mainly includes a condenser, a drying chamber, a vacuum pump system, a heating system, a control system, and a feeding / discharging system, etc. In some embodiments, the condenser is used to capture water vapor sublimated from the material and re-freeze it into ice, thereby separating it from the material in the drying chamber. The condenser is usually lower in temperature than the drying chamber to ensure efficient capture of water vapor. In some embodiments, the drying chamber is a space where the material or sample to be lyophilized is placed. The material can be in solid, liquid, or semi-solid form, and depending on different application requirements, the drying chamber can be equipped with trays, bottles, or other containers to carry the material. In some embodiments, the vacuum pump system is used to reduce the pressure in the drying chamber to create a low-pressure environment conducive to water sublimation. The degree of vacuum directly affects the efficiency and quality of the lyophilization. In some embodiments, the heating system provides the necessary heat to the material to promote the direct conversion of ice crystals into vapor (i.e., sublimation) without going through the liquid phase. The heating method can be radiant heating, contact heating, or microwave heating, etc. In some embodiments, the control system includes temperature control, pressure control, and time control, etc. to ensure that the entire lyophilization process is carried out according to the pre-set parameters. In some embodiments, the feeding / discharging system is used to send the material into the drying chamber or to take out the processed material, for example, a lyophilizer rack. In some embodiments, the number of lyophilizers 1 in the automated lyophilization device of the present disclosure can be 1, 2, 3, 4, or 5, etc., without being limited to the two in the figure.

[0026] In some embodiments, the intelligent operation module is arranged on the rack 4. In some embodiments, the intelligent operation module includes a ground rail 7, a robot 15, a weighing module 16 / 18, and a labeling machine 11. In some embodiments, the robot 15 is arranged on the ground rail 7 and can move along the ground rail 7 for material transfer. In some embodiments, the ground rail 7 can adopt a single-rail design, a double-rail design, or any other suitable design. In some embodiments, the ground rail 7 only includes straight rails (or straight-line rails), or includes straight rails and curved rails for changing the direction of travel of the rails, for example, when the ground rail 7 is in the shape of L or other shapes requiring turns. In some embodiments, the lyophilizers 1 and other components of the present disclosure are arranged around the ground rail 7. In some embodiments, the robot 15 has components matching the rails on the ground rail 7, so that the robot 15 can move on the ground rail 7 while being able to brake and fix at designated positions of the ground rail 7, facilitating the improvement of the operation stability of the robot 15. In some embodiments, the robot 15 can be used for material transfer between various modules on the automated lyophilization device. In some embodiments, the robot 15 can include a three-axis robot, a four-axis robot, or a six-axis robot, but the present disclosure is not limited thereto.

[0027] In some embodiments, the weighing modules 16 / 18 are used to weigh materials, including samples (e.g., traditional Chinese medicine extracts) and their containers (e.g., test tubes or concentration bottles). In some embodiments, the weighing modules include a 1 / 1000 balance 18 and / or a 1 / 10,000 balance 16. By weighing the samples and containers before and after freeze-drying, the freeze-dried sample yield can be obtained. In some embodiments, the labeling machine 11 is used to identify the sample containers to record and / or track information about the containers and samples. In some embodiments, the labeling machine 11 binds the information of the containers to the labels by affixing labels, thus enabling convenient intelligent and information-based management of the containers and the freeze-dried samples inside throughout the freeze-drying process, improving the operational efficiency of the freeze-drying process. Therefore, the automated freeze-drying equipment of this disclosure can significantly improve the efficiency of the freeze-drying production process, greatly reduce manual intervention, and simultaneously realize information-based management of materials, achieving unmanned operation of the freeze-drying process, automated production, and information-based management of material warehousing and outbound processes.

[0028] Furthermore, typically, the robot is fixed in a certain position on the frame, and various modules are arranged around the robot. In this case, taller modules are usually positioned further away from the robot to prevent interference and collisions between the robot's robotic arm and the modules. This results in limited module layout; for example, due to height constraints, two modules with frequent material transfers may be positioned far apart, unnecessarily increasing the material transfer distance and reducing material transfer efficiency. This disclosure, by setting up a ground rail 7 along which the robot 15 moves, reduces the problem of interference and collisions between the fixed robot and modules during operation without compromising the compactness of the automated freeze-drying equipment, because the robot 15 moves to the appropriate position on the ground rail 7 before operating. Additionally, this reduces the operational complexity of the robot 15, as it can interact with various modules at a closer distance. Therefore, the automated freeze-drying equipment of this disclosure improves work efficiency and reduces labor costs, while the ground rail 7 reduces the possibility of interference and collisions between the robot 15 and the processing modules, thereby expanding the freedom of module placement and further improving material transfer efficiency.

[0029] In some embodiments, such as Figure 1 As shown, rack 4 has a screen that is roughly parallel to the horizontal plane, and the intelligent operation module is mounted on rack 4. The external structure of the intelligent operation module is roughly a frame structure, which can be a structure built from multiple horizontal beams, vertical beams, etc., and connected between the horizontal beams and vertical beams by plates. The cavity in the frame structure can accommodate various equipment, instruments, power supply and control modules, and experimental consumables of the intelligent operation module.

[0030] In some embodiments, the intelligent operation module further includes an exchange compartment 9 and a positioning QR code position 8 for positioning of an external mobile device (e.g., an automated guided vehicle (AGV) trolley). In some embodiments, the positioning QR code position 8 includes two electronic QR codes located on both sides of the exchange compartment 9. In some embodiments, such as Figure 2 As shown, the positioning QR code position 8 includes two electronic QR codes staggered front to back. An AGV (Automated Guided Vehicle) integrates a camera to capture and analyze images of the two electronic QR codes, determining the position of the exchange chamber 9. The composite robotic arm on the AGV then retrieves and places materials (typically pallets) within the exchange chamber 9. In some embodiments, the exchange chamber 9 is used to exchange materials with external sources. For example, the exchange chamber 9 can hold pallets, flasks, consumables, etc., transported by an external AGV. Additionally, materials processed in an automated freeze-drying device (e.g., freeze-dried samples) can be placed in the exchange chamber 9, after which an external AGV can transport the processed materials to other suitable processing equipment for further processing. In some embodiments, various types of test tubes and concentration bottles can be placed on the pallets. In some embodiments, the exchange chamber 9 has three pallet storage positions, positioned precisely by positioning elements (e.g., pins) on the exchange chamber 9. It should be understood that this is merely exemplary, and the exchange chamber 9 may also include other numbers and structures of pallet storage positions.

[0031] In some embodiments, the intelligent operation module further includes a tool rack 6 and a temporary test tube rack 10 disposed adjacent to the exchange chamber 9. The tool rack 6 is used to place at least one of the tray grippers, concentration bottle grippers and test tube grippers. Figure 3 A perspective view of grippers according to some embodiments of the present disclosure is shown. In some embodiments, the robot 15 is provided with a first quick-change connector, and the tray gripper 21, the concentrate bottle gripper 20, and / or the test tube gripper 19 are provided with a second quick-change connector 22. The first quick-change connector and the second quick-change connector 22 are matched and detachably connected (e.g., magnetic connection, snap-fit, etc.), thus enabling quick-change of gripper tools to suit different working scenarios. In some embodiments, the robot 15 is connected to the tray gripper 21, which enables the gripping of trays for transfer, and the pulling out and pushing in of the freeze dryer rack. Because the tip of the fingers of the tray gripper 21 is provided with a small hook, the pulling out and pushing in of the freeze dryer rack can be achieved. In some embodiments, the robot 15 is connected to the concentrate bottle gripper 20, which enables the gripping of concentrate bottles from the tray to the one-hundredth-amount balance 18 for weighing, and the gripping of concentrate bottles to the labeling machine 11 for labeling. In some embodiments, the robot 15 is connected to the test tube gripper 19, which can pick up test tubes from the tray and weigh them in the balance 16, and pick up the test tubes and label them in the labeling machine 11.

[0032] In some embodiments, the tray gripper 21 comprises a gripper arm connected with a driving mechanism, a gripper finger connected to the gripper arm in a floating manner, and the gripper finger has a gripping surface. The gripper arm is driven to move by the driving mechanism to drive the gripper finger to grip or release the to-be-gripped object. It should be understood that this is only exemplary, and the tray gripper 21 can also comprise other suitable gripper structures. As shown in the drawings, Figure 3 In the tray gripper 21 of the present disclosure, a small hook is arranged at the most front end of the gripper finger, so that the pull-out and push-in of the freeze-drying machine rack can be realized.

[0033] In some embodiments, the temporary test tube rack 10 has 3 layers and a total of 18 tray storage positions, but this is only exemplary, and other numbers of layers and tray storage positions can also be included. In some embodiments, the robot 15 grips the test tube from the exchange bin 9 and transfers it to the temporary test tube rack 10. The test tube, The test tube, 250ml concentrate bottle tray is transferred to the temporary test tube rack 10, and the robot 15 The test tube, The test tube, 250ml concentrate bottle is individually gripped in front of the weighing code scanning gun 17, and after the code is bound, it is placed in the balance for weighing, and after the weighing is completed, it is gripped into the tray. In some embodiments, The test tube, The test tube is placed in the one-millionth balance 16 for weighing, and the 250ml concentrate bottle is placed in the one-hundredth balance 18 for weighing.

[0034] In some embodiments, the weighing module 16 / 18 and the temporary test tube rack 10 are respectively arranged on both sides of the ground rail 7. In this way, the test tubes in the temporary test tube rack 10 can be conveniently transferred to the weighing module 16 / 18 by the robot 15 for weighing, and the weighed test tubes can be conveniently placed in the temporary test tube rack 10. In some embodiments, the temporary test tube rack 10 is used to temporarily store test tube trays in the automated freeze-drying device. For example, the space of the exchange bin 9 is usually limited, in order not to affect the material exchange between the automated freeze-drying device and the outside, after the external AGV places the material in the exchange bin 9, the robot 15 can transfer the material tray in the exchange bin 9 to the temporary test tube rack 10 for temporary storage, so that the space in the exchange bin 9 is released for normal material exchange and transmission with the external AGV.

[0035] In some embodiments, the intelligent operation module further comprises a weighing recorder 17 adjacent to the weighing module, and the weighing recorder 17 is used to identify the weighed material and record the weight of the corresponding material. In some embodiments, the weighing recorder 17 comprises a weighing code scanning gun.

[0036] In some embodiments, the weighing module 16 / 18 is provided with an outer cover around the four sides, and the top of the weighing module 16 / 18 is provided with an outer cover door that can be automatically opened and closed. When the material is identified to be close, the outer cover door is automatically opened. After the material is placed on the weighing module, the outer cover door is automatically closed. After the weighing of the material is completed, the outer cover door is automatically opened. Therefore, when weighing is needed, the top outer cover door of the balance is automatically opened, the material is placed on the balance, the top outer cover door of the balance is closed for weighing, after the weighing is completed, the top outer cover door of the balance is automatically opened, and after the material is taken out, the top outer cover door of the balance is automatically closed. When no weighing is needed, the top outer cover door is closed. In the present disclosure, the purpose of providing the outer cover is to prevent wind and static electricity, and to avoid the influence of the external environment on the accuracy of the balance during weighing.

[0037] In some embodiments, as shown in FIG. 1, the labeling machine 11 includes a label printing module 23 and a rotary labeling module connected to the label printing module 23. Figure 4 In some embodiments, the rotary labeling module includes an idler 24, a torsion spring 25, a horizontal support seat 26, a vertical support seat 27, and a limiting block 28. In some embodiments, the idler 24 is installed on the horizontal support seat 26 and can rotate relative to the horizontal support seat 26. Specifically, a rotating shaft is fixedly installed on the horizontal support seat 26, and the idler 24 is internally provided with a bearing that is rotatably connected with the rotating shaft. When the idler 24 rotates, the bearing rotates, so that the idler 24 can rotate relative to the horizontal support seat 26. In some embodiments, the horizontal support seat 26 and the vertical support seat 27 are rotatably connected, which can also be achieved by a rotating shaft and a bearing. The torsion spring 25 limits the rotation angle between the horizontal support seat 26 and the vertical support seat 27. In some embodiments, the main body of the torsion spring 25 is installed on the horizontal support seat 26, one side of the extending end of the torsion spring 25 abuts against the limiting block 28, and the other side of the extending end of the torsion spring 25 abuts against the vertical support seat 27. The vertical support seat 27 is provided with a slot-shaped structure for limiting the torsion spring 25, and the limiting block 28 is arranged on the horizontal support seat 26.

[0038] In some embodiments, the intelligent operation module further includes a labeling test tube rack 12 adjacent to the labeling machine 11, a labeling code scanning gun 13, and a labeling test tube transfer station 14. The labeling test tube rack 12 and the labeling test tube transfer station 14 are both used to receive test tubes to be labeled or test tubes that have been labeled, and the labeling code scanning gun 13 is used to bind information to the labeled test tubes.

[0039] In some embodiments, the robot 15 connects the tray gripper 21 to pick up the material tray to be labeled from the exchange bin 9 to the labeling tube buffer station 14. In some embodiments, the robot 15 switches to connect the tube gripper 19, the robot 15 picks up the tube to the labeling position of the labeling machine 11, the tube is close to the idler 24; the label printing module 23 sends out the label, and the side with glue faces the tube, the robot 15 sticks the tube to the label and abuts against the idler 24, while the robot 15 rotates the tube parallel to the horizontal direction, for example, the sixth axis, the tube synchronously drives the idler 24 to rotate, to complete the tube labeling. In some embodiments, the robot 15 picks up the labeled tube to the labeling code scanning gun 13 to bind the information. In some embodiments, after the labeling and code scanning are completed, the tube is returned to the tray in the labeling tube buffer station 14. In some embodiments, the robot 15 transfers the tray to the temporary tube rack 10, so as to perform the subsequent weighing and freeze-drying processes; or, the robot 15 transfers the tray to the exchange bin 9, and is transferred to the next work station by the AGV.

[0040] In some embodiments, the automatic freeze-drying device of the present disclosure can support manual feeding of the tubes to the labeling tube rack 12 to perform the automatic labeling process of the tubes. The device of the present disclosure opens the permission of the side door 5, and a person can open the side door 5, feed the tray containing the tubes to be labeled to the labeling tube rack 12, close the side door 5 after the feeding is completed, and the automatic freeze-drying device starts the automatic labeling and code scanning process. After the automatic labeling process is completed, the automatic freeze-drying device provides two unloading methods: the tray can be transferred to the exchange bin 9, and is transferred to the next work station by the AGV; or, the tray is transferred to the labeling tube rack 12, and is unloaded by a person.

[0041] In some embodiments, the temporary tube rack 10 is arranged adjacent to the exchange bin 9. In this way, after the external AGV places the materials in the exchange bin 9, the robot 15 can efficiently and quickly transfer the materials in the exchange bin 9 to the temporary tube rack 10 for temporary storage. In some embodiments, the temporary tube rack 10 can be provided with positioning members, for example, stepped pins, connecting columns or elastic clamping members, etc., to cooperate with and fix the concentrate bottles or tube trays, etc., to prevent these materials from slipping or falling.

[0042] As Figure 2As shown, in some embodiments, the exchange bin 9 is located at the edge of one side of the automated freeze-drying device. In this way, the external AGV can conveniently exchange materials with the exchange bin 9. In some embodiments, the exchange bin 9 can include at least two bin positions (a first bin position and a second bin position), wherein the first bin position is used to receive materials sent by the external AGV, and the second bin position is used to place materials to be sent out of the automated freeze-drying device. In some embodiments, an inductive sensor is arranged in each of the first bin position and the second bin position, and once the first bin position is placed with materials sent by the external AGV, a notification is sent to the robot 15, informing that the first bin position has materials to be carried or transferred; and once the second bin position is placed with materials to be taken by the external AGV, a notification is sent to the external AGV, informing that the second bin position has materials to be taken. In some embodiments, a positioning member, such as a stepped pin, a connecting column or an elastic clamping member, can be arranged in each of the first bin position and the second bin position, to cooperate with and fix the concentrated bottle or the test tube tray, so as to prevent the materials from slipping or falling.

[0043] In some embodiments, a recycling mechanism can be arranged in the base of the lower part of the rack, and the recycling mechanism is arranged through the rack to recycle the waste solution, container and the like into the recycling mechanism. In some embodiments, the base of the lower part of the rack is a hollow shell, and the internal space can be used to place the robot 15 and the control module and the electrical module of the processing module, such as an electrical box, a computer host, a mechanical hand control box and the like. In addition, a plurality of cooling fans can also be arranged in the base to cool the electrical control module in the base, and the controller of the cooling fan can also be arranged in the base.

[0044] In some embodiments, the robot 15 is provided with an image recognition module to facilitate the positioning and operation of the robot. For example, in some embodiments, the robot 15 can be provided with a camera to obtain surrounding images for image analysis, which can help to be positioned to the corresponding processing module for material exchange, and can also be used to improve the operation accuracy, for example, based on the obtained images, the pose of the robot 15 is adjusted in real time to exchange materials with the corresponding processing module.

[0045] In some embodiments, the present disclosure also provides an automated preparation system, which includes a mobile device and the above-mentioned automated freeze-drying device, and the mobile device is used to take and place materials in the exchange bin of the automated freeze-drying device. In some embodiments, the mobile device can include an AGV, which can be used to transfer materials between the automated freeze-drying device and other external devices. The mobile device can be any mobile device capable of achieving the above-mentioned functions in the prior art, such as but not limited to a mobile AGV trolley or a mobile robot.

[0046] The automatic freeze-drying device of the present disclosure can realize automatic production, improve the intelligentization and informatization in the production process, be conducive to data recording of the production process and improve production efficiency, greatly reduce manual participation, and can realize material informatization management and unmanned mode of the freeze-drying process.

[0047] In addition, the present disclosure sets the ground rail 7, and the robot 15 is arranged to move along the ground rail 7. In the premise of not reducing the compactness of the automatic freeze-drying device, the problem of interference and collision between the fixed robot and the module during operation is reduced, because the robot 15 moves to the appropriate position on the ground rail 7 before operation. In addition, this also reduces the operation complexity of the robot 15, because it can interact with various modules at a closer distance. Therefore, the automatic freeze-drying device of the present disclosure improves work efficiency and reduces labor costs, and through the setting of the ground rail 7, the possibility of interference and collision between the robot 15 and the processing module is reduced, thereby widening the degree of freedom of the setting position of various modules, and the material transmission efficiency can be further improved. In addition, the labeling machine of the present disclosure can realize automatic labeling of containers (such as test tubes), thereby helping to realize intelligent information management and improve freeze-drying efficiency.

[0048] Those skilled in the art should understand that the above embodiments are only exemplary embodiments, and various changes, replacements and changes can be made without departing from the spirit and scope of the present disclosure.

Claims

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

2. The automated lyophilization apparatus of claim 1, wherein, The intelligent operation module also includes an exchange compartment and a positioning QR code for locating external mobile devices. The positioning QR code includes two electronic QR codes located on both sides of the exchange compartment.

3. The automated lyophilization apparatus of claim 1, wherein, The intelligent operation module also includes a tool rack and a temporary test tube rack located adjacent to the exchange chamber. The tool rack is used to hold at least one of the following: tray grippers, concentration bottle grippers, and test tube grippers.

4. The automated lyophilization apparatus of claim 3, wherein, The robot is equipped with a first quick-change connector, and the tray gripper, the concentration bottle gripper and / or the test tube gripper are equipped with a second quick-change connector. The first quick-change connector and the second quick-change connector are matched and detachably connected.

5. The automated lyophilization apparatus of claim 3, wherein, The weighing module and the temporary test tube rack are respectively installed on both sides of the ground rail.

6. The automated lyophilization apparatus of claim 1, wherein, The intelligent operation module also includes a weighing recorder adjacent to the weighing module, which is used to identify the material being weighed and record the weight of the corresponding material.

7. The automated lyophilization apparatus of claim 1, wherein, The weighing module is surrounded by an outer cover, and the top of the weighing module is equipped with an automatically opening and closing outer cover door. When material is detected approaching, the outer cover door opens automatically; after the material is placed on the weighing module, the outer cover door closes automatically; and after the weighing of the material is completed, the outer cover door opens automatically.

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

9. The automated lyophilization apparatus of claim 1, wherein, The intelligent operation module also includes a labeling tube rack, a labeling barcode scanner, and a labeling tube transfer station adjacent to the labeling machine. The labeling tube rack and the labeling tube transfer station are used to receive tubes to be labeled or tubes that have already been labeled. The labeling barcode scanner is used to bind information to the labeling tubes.

10. The automated lyophilization apparatus of claim 1, wherein, The weighing module includes a 1 / 1000 balance and / or a 1 / 10,000 balance.

11. The automated lyophilization apparatus of claim 1, wherein, The robot is equipped with an image recognition module to facilitate its positioning and operation.

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

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