Four-channel high-throughput artificial intelligence cryopreservation tube picking device

Abstract

The utility model discloses a four-channel high-throughput artificial intelligence cryopreservation tube picking device, which relates to the technical field of biological sample storage and transfer, and comprises a rack, an X-axis linear module, a portal frame, a Y-axis linear module, a moving seat, a Z-axis linear module and three clamping jaw manipulators, five tray guide rails are installed on the upper surface of the machine frame at equal intervals, two sets of pressing plates are symmetrically arranged at the positions, located above the tray guide rails, of the two sides of the machine frame, and each set of pressing plates is connected with the machine frame through an adjusting assembly. The transfer operation of three cryopreservation tubes can be achieved at a time, the standard-density tray can be pressed and fixed in cooperation with the application of the adjusting assembly, the transfer operation of the cryopreservation tubes between the standard-density tray and the high-density tray by a mechanical arm is facilitated, the operation speed is high, the sample treatment flux is high, and the operation efficiency is high. And the picking and transferring operation of the cryopreservation tubes at low temperature can be quickly realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to biological sample storage transfer technical field especially, relates to a four -channel high -throughput artificial intelligence cryopreservation tube picking device. BACKGROUND

[0002] Artificial intelligence cryopreservation tube picking device is usually a kind of equipment combining automation and artificial intelligence technology, mainly applied to the management and storage of biological samples, especially in the field of cryopreservation, such as cryopreservation and use of cell, tissue, blood sample etc.The core purpose is to improve the access efficiency of cryopreserved samples, reduce human error, improve work safety and management convenience;

[0003] Cryopreserved sample storage adopts high-quality standardized cryopreservation tube, in order to facilitate batch operation, cryopreservation tube is placed in standard specification cryopreservation box, standard density cryopreservation box is general model in life science field, cryopreservation box and cryopreservation tube are provided with only ID, and bottom two-dimensional code is automatically scanned, as identity information of system management and identification;

[0004] For automated sample storage equipment, in order to store more consumables in unit space, high-density tray with greater density per unit area is used during storage, therefore, high-density tray is used as medium for storing cryopreservation tube, and standard-density tray is only used when entering and exiting warehouse, so it is necessary to realize artificial intelligence transfer between standard-density tray and high-density tray under low temperature for cryopreservation tube;

[0005] The current artificial intelligence cryopreservation tube picking device is for picking and transferring single cryopreservation tube when realizing the transfer of cryopreservation tube between standard-density tray and high-density tray, this operation is too single, and the transfer efficiency of whole batch cryopreservation tube is low, therefore, a four-channel high-throughput artificial intelligence cryopreservation tube picking device. Utility model content

[0006] In view of the defects of prior art, the utility model provides a four-channel high-throughput artificial intelligence cryopreservation tube picking device, which solves the problems in the above background art.

[0007] To achieve the above object, the utility model realizes by following technical scheme: a four-channel high-throughput artificial intelligence cryopreservation tube picking device, including rack, the both sides of the rack symmetry are installed X axis linear module, two X axis linear module are connected with gantry together, Y axis linear module is installed on the gantry, and the gantry is connected with mobile seat through Y axis linear module, the front side of mobile seat is connected with three jaw mechanical hands through Z axis linear module;

[0008] The upper surface of the rack is equidistantly provided with five tray guide rails, two groups of pressing plates are symmetrically arranged above the tray guide rails on both sides of the rack, each group of the pressing plates is connected with the rack through an adjusting assembly, and a wide-angle camera is arranged on one side of the upper end of the rack.

[0009] As a further technical scheme of the utility model, each group of the pressing plates is provided with two, which correspond to the two tray guide rails adjacent to the outermost side respectively, and the adjusting assemblies connected on the two groups of the pressing plates are of the same structure.

[0010] As a further technical scheme of the utility model, the adjusting assembly comprises two connecting rods hingedly connected at the bottom end of the pressing plate, the bottom end of the two connecting rods is commonly rotationally connected with a push rod, the upper surface of the tray guide rail is provided with a guide groove, the push rod is slidably penetrated through the tray guide rail and extends into the guide groove, a rotating shaft is arranged between the connecting rod, the push rod and the guide groove, the bottom end of the connecting rod is rotationally connected with the push rod through the rotating shaft, and the middle part of the connecting rod is rotationally connected with the inner wall of the guide groove through the rotating shaft.

[0011] As a further technical scheme of the utility model, the adjusting assembly further comprises a synchronous rod commonly connected at the other end of the two push rods, a connecting plate is arranged on the upper surface of the synchronous rod, a driving seat is fixed on the upper surface of the connecting plate, a driving screw is threadedly penetrated and connected on the driving seat, and the driving screw is threadedly connected with the driving seat.

[0012] As a further technical scheme of the utility model, the adjusting assembly further comprises a fixed shaft seat arranged on one side of the upper end of the rack, a driving motor is arranged on one side of the fixed shaft seat of the upper end of the rack, the output end of the driving motor is connected with a main pulley, the output end of the driving motor is connected with a driven pulley through the main pulley and a belt, one end of the driving screw is fixed with the middle part of the driving screw through the fixed shaft seat, and the driving screw is rotationally connected with the fixed shaft seat.

[0013] As a further technical scheme of the utility model, one tray placing channel is formed between every two tray guide rails, and four tray placing channels are formed on the rack between the five tray guide rails.

[0014] The utility model provides a four-channel high-flux artificial intelligence frozen tube picking device, and has the following beneficial effects compared with the prior art:

[0015] The four-channel high-flux artificial intelligence frozen tube picking device of the design utilizes the cooperation of X, Y and Z three-axis linear modules and a mechanical hand, can not only move to any position of the tray placement channel space, but also can pick and transfer three frozen tubes at one time, in addition, the cooperation of four tray placement channels and the application of the adjusting assembly can compress and fix the standard density tray, facilitate the transfer of the frozen tube between the standard density tray and the high-density tray by the mechanical hand, the design has high running speed and high sample processing flux, can quickly realize the picking and transfer of the frozen tube under low temperature, and provides sample use efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic view of the utility model;

[0017] Figure 2 It is a top view of the utility model;

[0018] Figure 3 It is a structural schematic view of the pressing plate and the tray guide rail in the utility model;

[0019] Figure 4 It is a structural schematic view of the pressing plate and the adjusting assembly in the utility model.

[0020] In the drawing: 1, rack; 2, X-axis linear module; 3, gantry; 4, Y-axis linear module; 5, moving seat; 6, Z-axis linear module; 7, clamping jaw mechanical hand; 8, tray guide rail; 81, guide groove; 9, pressing plate; 91, driving motor; 92, driven pulley; 93, fixed shaft seat; 94, driving screw; 95, driving seat; 96, connecting plate; 97, synchronous rod; 98, push rod; 99, connecting rod; 910, rotary shaft; 10, wide-angle camera. DETAILED DESCRIPTION

[0021] The technical scheme in the embodiments of the utility model will be clearly and completely described in combination with the drawings in the embodiments of the utility model, and apparently, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments, based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0022] Please refer to Figures 1-4The utility model provides a kind of four-channel high-flux artificial intelligence cryopreservation tube picking device technical scheme: a kind of four-channel high-flux artificial intelligence cryopreservation tube picking device, including rack 1, the two sides of rack 1 are symmetrically equipped with X-axis linear module 2, two X-axis linear module 2 are commonly connected with gantry 3, Y-axis linear module 4 is installed on gantry 3, and gantry 3 is connected with moving seat 5 by Y-axis linear module 4, the front side of moving seat 5 is connected with three gripper mechanical hands 7 by Z-axis linear module 6, the upper end side of rack 1 is also provided with wide-angle camera 10, three gripper mechanical hands 7 can adopt but not limit to snap spring mechanical hand, and three-channel picking operation can be formed, three cryopreservation tubes can be simultaneously realized to be grabbed and transferred operation, wide-angle camera 10 can monitor the situation of picking tube;

[0023] The upper surface of rack 1 is equipped with five tray guide rails 8 at equal distance, one tray placing channel is formed between every two tray guide rails 8, four tray placing channels are formed on rack 1 between five tray guide rails 8, the middle two tray placing channels can place high-density tray, and the two tray placing channels can place standard-density tray, it needs to be explained that one standard-density tray can place 6 cryopreservation boxes, i.e. 576 cryopreservation tubes, and one honeycomb high-density tray can place 1008 cryopreservation tubes.

[0024] Two groups of pressing plates 9 are symmetrically arranged above tray guide rail 8 at the two sides of rack 1, each group of pressing plate 9 is provided with two, correspondingly with the two tray guide rails 8 adjacent to the outermost side, the adjusting assembly connected on the two groups of pressing plates 9 is the same structure, each group of pressing plate 9 and rack 1 are connected by adjusting assembly, the two groups of pressing plates 9 correspond to two channels for placing standard-density tray respectively, for pressing and fixing standard-density tray, to prevent cryopreservation box from being separated from standard-density tray.

[0025] Adjusting assembly includes two connecting rods 99 hinged at the bottom end of pressing plate 9, the bottom end of two connecting rods 99 is commonly connected with push rod 98, the upper surface of tray guide rail 8 is provided with guide groove 81, push rod 98 is slidably penetrated through tray guide rail 8 and extends to the inside of guide groove 81, rotating shaft 910 is arranged between connecting rod 99, push rod 98 and guide groove 81, the bottom end of connecting rod 99 is rotatably connected with push rod 98 through rotating shaft 910, and the middle part of connecting rod 99 is rotatably connected with the inner wall of guide groove 81 through rotating shaft 910, when push rod 98 is pushed in guide groove 81, the bottom end of connecting rod 99 will move in guide groove 81, connecting rod 99 makes circular motion with the rotating shaft 910 in the middle part as center, at this time, the top end of connecting rod 99 will rotate, and pressing plate 9 is lifted, on the contrary, when push rod 98 is retracted, connecting rod 99 is pulled to rotate in guide groove 81, so that pressing plate 9 moves down and presses and fixes standard-density tray on tray guide rail 8.

[0026] The adjusting assembly further comprises two push rods 98 which are connected to the other end of the synchronous rod 97 in common, the upper surface of the middle part of the synchronous rod 97 is provided with a connecting plate 96, the upper surface of the connecting plate 96 is fixed with a driving seat 95, the driving screw 94 is connected to the driving seat 95 in thread, the driving screw 94 is connected to the driving seat 95 in thread, the upper end of the rack 1 is provided with a driving motor 91 on one side of the fixed shaft seat 93, the output end of the driving motor 91 is connected to the main pulley, and the output end of the driving motor 91 is connected to the driven pulley 92 through the main pulley and the belt, one end of the driving screw 94 penetrates through the fixed shaft seat 93 and is fixed to the middle part of the driving screw 94, the driving screw 94 is rotatably connected to the fixed shaft seat 93, the pushing and retraction of the push rod 98 are realized by rotating the main pulley and the driven pulley 92 driven by the driving motor 91, the driving screw 94 is rotated by the driven pulley 92, and the driving seat 95 is connected to the driving screw 94 in thread, so that the driving seat 95 drives the synchronous rod 97 to move linearly along the surface of the driving screw 94, thereby driving the two push rods 98 to push or retract synchronously, so as to complete the pressing or unpressing operation of the pressing plate 9 on the standard density tray.

[0027] The working principle of the utility model is that before the cryopreservation tube is put into the warehouse, the staff puts the cryopreservation tube on the standard density tray, then puts the standard density tray into the two outermost tray placing channels, and then drives the pressing plate 9 downward by the adjusting assembly to press and fix the standard density tray.

[0028] Further, the device is started to work, and the X-axis linear module 2, Y-axis linear module 4 and Z-axis linear module 6 are driven in cooperation to drive the three gripper mechanical hands 7 to transfer the cryopreservation tube on the standard density tray to the high-density tray in the middle two tray placing channels, and the cooperation of the X-axis linear module 2, Y-axis linear module 4 and Z-axis linear module 6 can make the gripper mechanical hand 7 move to any position of the tray placing channel, so as to pick the cryopreservation tube.

[0029] Conversely, when the cryopreservation tube is taken out, the same operation mode is adopted, the cryopreservation tube on the high-density tray is picked and transferred to the standard density tray on the two sides, then the adjusting assembly is used to release the pressing of the standard density tray, so that the staff can take out the standard density tray, the design can realize the picking and transferring operation of the cryopreservation tube between the two groups of high-density trays and standard density trays, has high running speed and sample processing flux, and can realize the accurate positioning and picking of the cryopreservation tube under low temperature in cooperation with the artificial intelligence program.

[0030] The above only is the preferred embodiment of the utility model, it should be pointed out, for ordinary skilled person in the art, without departing from the principle of the utility model, can make a number of improvements and refinements, these improvements and refinements also should be considered the protection scope of the utility model.The structure, device and operating method not specifically described and explained in the utility model, if no special description and limitation, all according to the conventional means of the art implementation.

Claims

1. A four-channel high-throughput artificial intelligence cryotube picking device comprising a rack (1), characterized in that, The X-axis linear module (2) is symmetrically installed on both sides of the rack (1), two X-axis linear modules (2) are commonly connected with a portal frame (3), the Y-axis linear module (4) is installed on the portal frame (3), and the portal frame (3) is connected with a moving seat (5) through the Y-axis linear module (4), the front side of the moving seat (5) is connected with three gripper manipulators (7) through the Z-axis linear module (6); The upper surface of the rack (1) is symmetrically provided with five tray guide rails (8), and two groups of pressing plates (9) are symmetrically arranged on both sides of the rack (1) above the tray guide rails (8), each group of the pressing plates (9) and the rack (1) are connected through an adjusting assembly, and a wide-angle camera (10) is arranged on one side of the upper end of the rack (1).

2. The four-channel high-throughput artificial intelligence cryotube picking device according to claim 1, characterized in that, Each group of the pressing plates (9) is provided with two, which correspond to the two tray guide rails (8) adjacent to the outermost side, and the adjusting assemblies connected to the two groups of the pressing plates (9) are the same in structure.

3. The four-channel high-throughput artificial intelligence cryotube picking device according to claim 1, wherein, The adjusting assembly comprises two connecting rods (99) hinged at the bottom end of the pressing plate (9), the bottom end of the two connecting rods (99) is commonly rotatably connected with a push rod (98), the upper surface of the tray guide rail (8) is provided with a guide groove (81), the push rod (98) slidably penetrates the tray guide rail (8) and extends into the guide groove (81), and the connecting rod (99), the push rod (98) and the guide groove (81) are provided with a rotating shaft (910), the bottom end of the connecting rod (99) is rotatably connected with the push rod (98) through the rotating shaft (910), and the middle part of the connecting rod (99) is rotatably connected with the inner wall of the guide groove (81) through the rotating shaft (910).

4. The four-channel high-throughput artificial intelligence cryotube picking device according to claim 3, characterized in that, The adjusting assembly further comprises a synchronous rod (97) commonly connected to the other end of the two push rods (98), a connecting plate (96) is installed on the upper surface of the synchronous rod (97), a driving seat (95) is fixed on the upper surface of the connecting plate (96), a driving screw (94) is threadedly connected to the driving seat (95), and the driving screw (94) and the driving seat (95) are threadedly connected.

5. The four-channel high-throughput artificial intelligence cryotube picking device according to claim 4, characterized in that, The adjusting assembly further comprises a fixed shaft seat (93) installed on one side of the upper end of the rack (1), a driving motor (91) is arranged on one side of the upper end of the rack (1) and located at the fixed shaft seat (93), the output end of the driving motor (91) is connected with a main pulley, the output end of the driving motor (91) is connected with a driven pulley (92) through the main pulley and a belt, one end of the driving screw (94) penetrates the fixed shaft seat (93) and is fixed to the middle part of the driving screw (94), and the driving screw (94) and the fixed shaft seat (93) are rotatably connected.

6. The four-channel high-throughput artificial intelligence cryotube picking device according to claim 1, wherein, A tray placing channel is formed between every two tray guide rails (8), and four tray placing channels are formed between the five tray guide rails (8) on the rack (1).

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