Artificial intelligence cryopreservation tube picking device capable of running at ultralow temperature

Abstract

The utility model discloses an artificial intelligence cryogenic vial picking device capable of operating at ultralow temperature, which relates to the technical field of cryogenic vial storage and comprises a support frame, a heat preservation partition plate, a mechanical movement chamber and a cryogenic vial storage chamber. A linear sliding table, a main sliding base, a lifting adjusting assembly, a lifting frame, a bottom frame, an outer sleeve and a main lifting arm are installed in the mechanical movement cavity, the outer side of the bottom end of the outer sleeve is connected with a fixing arm and a pipe picking sleeve, and the bottom end of the main lifting arm is connected with a lower supporting arm, an upper supporting arm, an ejector pin and a gland. The device is used for movement of mechanical equipment, the influence on the mechanical equipment in a low-temperature environment can be reduced, a rotary picking mode is adopted, the number of moving shafts and resistance at low temperature can be reduced, the efficiency of transferring cryopreservation tubes from a standard-density tray to a high-density tray is improved, and precise positioning and picking of the cryopreservation tubes at low temperature are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cryopreservation tube storage technology, especially to an artificial intelligence cryopreservation tube picking device capable of operating at ultralow temperature. BACKGROUND

[0002] In the process of drug research and development, medical innovation, cohort study, etc., genomics and proteomics are involved, and the research subjects need to exist in the form of biological samples such as tissue slices, blood, urine, DNA extract, etc. These biological samples are either biologically active or easily degradable substances, and need to be stored in a low-temperature environment. With the development trend of automation and intelligentization, it has become a general consensus to manage samples with artificial intelligence and automatic equipment from traditional manual management.

[0003] Automatic biological sample storage uses high-quality standardized cryopreservation tubes. In order to facilitate batch operation, the cryopreservation tubes are placed in standard specification cryopreservation boxes. Standard density cryopreservation boxes are commonly used in the field of life science. For 0.5ml and 1.0ml cryopreservation tubes, 96-well cryopreservation boxes are used. Cryopreservation boxes and cryopreservation tubes both have unique IDs, and the bottom two-dimensional code is automatically scanned as identity information for system management and identification. For automatic sample storage equipment, in order to store more consumables in a unit space, high-density trays with higher density per unit area are used for storage. When using tray storage, one standard density tray can hold 6 cryopreservation boxes, i.e. 576 cryopreservation tubes, while a honeycomb-shaped high-density tray can hold 1008 cryopreservation tubes.

[0004] The high-density tray is a medium for storing cryopreservation tubes, while the standard density tray is only used for storage and retrieval. This requires the artificial intelligence to transfer the cryopreservation tubes between the standard density tray and the high-density tray at low temperature. When storing, the cryopreservation tubes are placed on the standard density tray after being pre-processed and divided, and the cryopreservation tubes are automatically picked up by the artificial intelligence device to the high-density tray. When retrieving, the cryopreservation tubes are identified by the unique ID of the sample tube, and the artificial intelligence picking program picks the cryopreservation tubes from the high-density tray to the standard density tray.

[0005] Then the existing conventional artificial intelligence cryopreservation tube picking equipment mostly adopts multi-axis movement, and the entire equipment is set in the cryopreservation tube storage area, which is at a low temperature of up to -80℃. In this low-temperature environment, it is easy to affect the operation of the equipment, and the multi-axis movement operation is relatively cumbersome. Therefore, the utility model provides an artificial intelligence cryopreservation tube picking device capable of operating at ultralow temperature. UTILITY MODEL CONTENTS

[0006] In view of the deficiencies of the prior art, the utility model provides an artificial intelligence cryopreservation tube picking device capable of operating at ultralow temperature, which solves the problems raised in the above background technology.

[0007] To achieve the above object, the utility model discloses a can run under super low temperature artificial intelligence cryopreservation tube picking device, including support frame, the inner side of support frame is installed with heat preservation partition, the surface middle part of heat preservation partition is equipped with the drive sliding slot, the inner side of support frame is divided into mechanical movement chamber and cryopreservation tube storage chamber through heat preservation partition,

[0008] The linear slide of parallelism with drive sliding slot is installed in mechanical movement chamber, the main slide is slidably connected on the linear slide, the outer side of main slide is connected with lifting frame through the lifting adjusting component, the bottom of lifting frame is connected with the dolly, the middle part of dolly is connected with the outer sleeve through, the inside of outer sleeve is penetrated with the main lifting arm, and the bottom of main lifting arm and outer sleeve extends to the cryopreservation tube storage chamber through drive sliding slot.

[0009] The bottom outside of outer sleeve is connected with fixed arm, the one end of fixed arm is installed with the pipe picking sleeve, the vertical adjusting groove is equipped on the top of fixed arm on the outer surface of the bottom of outer sleeve, the bottom of main lifting arm is connected with the lower support arm below fixed arm, and the upper support arm of main lifting arm is connected with the outer surface of the lower end and extends to the outside of vertical adjusting groove and is located above fixed arm, the one end of lower support arm is installed with the thimble below the pipe picking sleeve, and the one end of upper support arm is installed with the gland above the pipe picking sleeve.

[0010] As a further technical scheme of the utility model, the lifting adjusting component includes the positioning plate fixedly installed on the outer side of main slide, the lifting cylinder is fixedly installed on the lower end of positioning plate, the telescopic end of lifting cylinder is fixed with lifting frame, the outer side of main slide is further provided with vertical slide rail, and the lifting frame and main slide are further connected in the vertical direction through vertical slide rail.

[0011] As a further technical scheme of the utility model, the gear disc is installed on the top outside of outer sleeve and is located above dolly, the drive motor is fixed on the outer side of lifting frame, the output end of drive motor is connected with driving gear, the driving gear is engaged with gear disc, and outer sleeve and dolly are rotationally connected.

[0012] As a further technical scheme of the utility model, the recess is equipped on the outer side of the upper end of main lifting arm, and the thimble cylinder is installed in recess, the connecting plate is installed on the telescopic end of thimble cylinder, and the connecting plate is fixed with the inner wall top of outer sleeve.

[0013] As a further technical scheme of the utility model, the outer surface of the main lifting arm is vertically provided with a limiting slide rail, the inner wall of the outer sleeve is provided with a vertical sliding groove corresponding to the limiting slide rail, and the main lifting arm is slidably connected to the inner side of the outer sleeve through the limiting slide rail.

[0014] As a further technical scheme of the utility model, two groups of tray guide rails are symmetrically installed in the cryopreservation tube storage chamber, each group of the tray guide rails has two, a tray channel is formed between each group of the tray guide rails, a plurality of cryopreservation tube trays can be placed in the tray channel, and the two ends of the tray guide rail are fixedly connected with the support frame through the cross beam.

[0015] As a further technical scheme of the utility model, a camera mounting box is installed above the two groups of tray guide rails on the heat preservation partition plate, and a camera for monitoring the cryopreservation tube storage chamber is installed in the camera mounting box.

[0016] The utility model provides an artificial intelligence cryopreservation tube picking device which can operate under ultralow temperature, and has the following beneficial effects compared with the prior art.

[0017] 1. The artificial intelligence cryopreservation tube picking device which can operate under ultralow temperature is divided into two regions by the heat preservation partition plate, the temperature of the upper region is relatively high, the movement of the mechanical equipment is reduced, the influence of the mechanical equipment under the low-temperature environment is reduced, the temperature of the lower region is relatively low, and the cryopreservation tube is stored.

[0018] 2. The artificial intelligence cryopreservation tube picking device which can operate under ultralow temperature adopts the cooperation of the main support arm, the outer sleeve, the lifting adjusting assembly and the gear disc, can realize the rotation of the tube picking sleeve to pick the cryopreservation tube, reduces the number of moving shafts and the resistance under the low temperature, improves the efficiency of the transfer of the cryopreservation tube from the standard density tray to the high-density tray, realizes the accurate positioning and picking of the cryopreservation tube under the low temperature, and provides the sample use efficiency. ACCURACY

[0019] Figure 1 It is the first structure view angle graph of the utility model;

[0020] Figure 2 It is the second structure view angle graph of the utility model;

[0021] Figure 3 It is the A part enlarged schematic view in the utility model Figure 2

[0022] Figure 4 It is the plan view of the utility model;

[0023] Figure 5 It is the A part enlarged schematic view in the utility model Figure 4 ​B part enlarged schematic view in the figure;

[0024] Figure 6 It is the installation schematic view of tray guide rail in the utility model;

[0025] Figure 7 It is the installation schematic view of the pipe sleeve in the utility model;

[0026] Figure 8 It is the connection schematic view of main lifting arm and the needle in the utility model;

[0027] Figure 9 It is the structure schematic view of main lifting arm and the outer sleeve in the utility model.

[0028] In the figure: 1, support frame; 2, heat preservation partition; 21, drive sliding groove; 3, linear slide; 4, main slide; 41, positioning plate; 42, vertical slide rail; 43, lifting cylinder; 44, lifting frame; 45, bottom frame; 46, drive motor; 47, gear plate; 48, driving gear; 5, main lifting arm; 51, needle cylinder; 52, outer sleeve; 53, upper support arm; 54, lower support arm; 55, needle; 56, gland; 57, fixed arm; 58, pipe sleeve; 59, vertical adjusting groove; 510, limit slide rail; 511, connecting plate; 6, camera mounting box; 7, tray guide rail. DETAILED DESCRIPTION

[0029] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model, obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments, based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without making creative labor belong to the range of protection of the utility model.

[0030] Please refer to Figures 1-8The utility model provides a kind of artificial intelligence cryopreservation tube picking device technical scheme that can operate under ultralow temperature: a kind of artificial intelligence cryopreservation tube picking device that can operate under ultralow temperature, including support frame 1, the outside four quarters of support frame 1 are all provided with sealed heat preservation guard plate, for carrying out heat preservation protection to internal equipment, heat preservation partition plate 2 is installed in the inboard of support frame 1, two groups of tray guide rails 7 are symmetrically installed in cryopreservation tube storage chamber, each group of tray guide rails 7 has two, tray channel is formed between each group of tray guide rails 7, and multiple cryopreservation tube trays can be placed in tray channel, and the both ends of tray guide rail 7 are fixedly connected with support frame 1 by crossbeam, camera installation box 6 is installed in the directly above of two groups of tray guide rails 7 on heat preservation partition plate 2, camera is installed in camera installation box 6 for monitoring in cryopreservation tube storage chamber, it needs to be explained, two groups of tray guide rails 7 form two tray channels, one tray channel places high-density tray, and another places standard-density tray;

[0031] The surface middle part of heat preservation partition plate 2 is provided with driving sliding slot 21, and the inboard of support frame 1 is divided into mechanical movement chamber and cryopreservation tube storage chamber by heat preservation partition plate 2, and the bottom end of main lifting arm 5 and outer sleeve 52 extends to cryopreservation tube storage chamber through driving sliding slot 21, the mechanical movement chamber and cryopreservation tube storage chamber can be divided into two areas by heat preservation partition plate 2, the temperature in mechanical movement chamber is-20 DEG C, and the temperature in cryopreservation tube storage chamber is-80 DEG C, and heat preservation partition plate 2 is combined by heat preservation material and steel plate and is used for separating two areas;

[0032] Linear slide 3 parallel with driving sliding slot 21 is installed in mechanical movement chamber, main slide 4 is slidably connected on linear slide 3, and lifting frame 44 is connected to the outer side surface of main slide 4 by lifting adjusting assembly, the lifting adjusting assembly includes the fixed mounting of positioning plate 41 on the outer side surface of main slide 4, lifting cylinder 43 is fixedly installed at the lower end of positioning plate 41, the telescopic end of lifting cylinder 43 is fixed with lifting frame 44, vertical slide rail 42 is further provided on the outer side surface of main slide 4, and lifting frame 44 is further slidably connected with main slide 4 in vertical direction through vertical slide rail 42, main lifting arm 5 and outer sleeve 52 are installed on lifting frame 44, and lifting frame 44 can slide up and down in the vertical direction of main slide 4, therefore, main lifting arm 5 and outer sleeve 52 can be driven to move down by the extension of lifting cylinder 43 and the pushing of lifting frame 44, and vice versa, so as to realize the lifting adjustment of main lifting arm 5 and outer sleeve 52.

[0033] As Figure 8 And 9As shown, the bottom end of the lifting frame 44 is connected with a bottom frame 45, the middle part of the bottom frame 45 is connected with an outer sleeve 52 in penetration, the bottom end of the outer sleeve 52 is connected with a fixed arm 57 outside, one end of the fixed arm 57 is installed with a tube sleeve 58, the bottom end of the outer sleeve 52 is provided with a vertical adjusting groove 59 on the outer surface above the fixed arm 57, the bottom end of the main lifting arm 5 is connected with a lower supporting arm 54 below the fixed arm 57, and the lower end of the main lifting arm 5 is connected with an upper supporting arm 53 extending to the outside of the vertical adjusting groove 59 and above the fixed arm 57, one end of the lower supporting arm 54 is installed with a thimble 55 corresponding to the position directly below the tube sleeve 58, one end of the upper supporting arm 53 is installed with a gland 56 corresponding to the position directly above the tube sleeve 58, the tube sleeve 58 can be used to take and place the cryopreservation tube on the cryopreservation tube tray, when taking and placing, the fixed arm 57 is above the tray, the lower supporting arm 54 is below the tray, the main lifting arm 5 is lifted to drive the thimble 55 to move upwards, the cryopreservation tube in the tray is lifted into the tube sleeve 58 to realize the taking out of the cryopreservation tube, further, when the main lifting arm 5 moves downwards, the cryopreservation tube in the tube sleeve 58 is pressed out by the gland 56.

[0034] As shown, Figure 9 The inside of the outer sleeve 52 penetrates the main lifting arm 5, the upper end of the main lifting arm 5 is provided with a groove outside, and the groove is installed with a thimble cylinder 51, the telescopic end of the thimble cylinder 51 is installed with a connecting plate 511, and the connecting plate 511 is fixed with the inner wall top of the outer sleeve 52, the outer surface of the main lifting arm 5 is also installed with a limiting sliding rail 510 in the vertical direction, the inner wall of the outer sleeve 52 is provided with a vertical sliding groove corresponding to the limiting sliding rail 510, the main lifting arm 5 is slidably connected to the inner side of the outer sleeve 52 through the limiting sliding rail 510, it should be noted that both ends of the main lifting arm 5 extend out of the outer sleeve 52, in the use process, the extension of the thimble cylinder 51 can drive the main lifting arm 5 to move upwards along the outer sleeve 52, so that the lower supporting arm 54 and the upper supporting arm 53 at the bottom end of the main lifting arm 5 move upwards synchronously, that is, the thimble 55 moves upwards to lift the cryopreservation tube into the tube sleeve 58, on the contrary, the thimble cylinder 51 retracts, the lower supporting arm 54 and the upper supporting arm 53 move downwards synchronously.

[0035] The top end of the outer sleeve 52 is installed with a gear disc 47 outside above the bottom frame 45, the outer side of the lifting frame 44 is fixed with a driving motor 46, the output end of the driving motor 46 is connected with a driving gear 48, the driving gear 48 is meshingly connected with the gear disc 47, the outer sleeve 52 and the bottom frame 45 are rotationally connected, the driving motor 46 is used to work to drive the driving gear 48 to rotate, so as to drive the gear disc 47 to rotate, the outer sleeve 52 is driven to rotate by the gear disc 47, the rotation of the outer sleeve 52 will synchronously drive the main lifting arm 5, the thimble 55 and the tube sleeve 58 to rotate synchronously, the purpose is to take out the cryopreservation tube on the standard density tray by the tube sleeve 58 and rotate to put into the high-density tray for storage.

[0036] The working principle of the utility model is: for the frozen storage tube warehousing, the staff puts the divided frozen storage tube on the standard density tray, then puts the standard density tray into one of the tray channels, then starts the equipment, uses the linear slide 3 to drive the main lifting arm 5 and the outer sleeve 52 to move to the designated position along the driving sliding groove 21, then starts the driving motor 46 to work positively, makes it drive the gear disc 47 to rotate through the driving gear 48, uses the gear disc 47 to drive the outer sleeve 52 to rotate, synchronously rotates the ejector pin 55 and the tube sleeve 58 to the corresponding standard density tray, makes the tube sleeve 58 above the frozen storage tube of the tray, and the ejector pin 55 below the tray;

[0037] Then uses the lifting adjusting assembly to drive the lifting frame 44 to descend, makes the tube sleeve 58 just above the frozen storage tube, automatically controls the extension of the ejector pin cylinder 51, makes it drive the main lifting arm 5 to move upwards along the outer sleeve 52, so that the lower support arm 54 and the upper support arm 53 move upwards synchronously, thus the upward movement of the ejector pin 55 will push the frozen storage tube into the tube sleeve 58, after being pushed into place, the ejector pin cylinder 51 and the lifting frame 44 reset;

[0038] Then, the driving motor 46 works reversely, rotates the tube sleeve 58 to the high-density tray, at this time, controls the lifting frame 44 to descend, then the ejector pin cylinder 51 retracts, the lower support arm 54 and the upper support arm 53 move downwards synchronously, uses the gland 56 to press the frozen storage tube in the tube sleeve 58 out, makes it fall on the high-density tray, that is, the work of automatically transferring the frozen storage tube from the standard density tray to the high-density tray is completed, it should be noted that the tray channel of the frozen storage tube storage chamber is provided with a positioning program, the program can adopt existing conventional mature recognition positioning technology to automatically recognize the position of the frozen storage tube, and the program control can cooperate with the artificial intelligence program to improve the transfer efficiency of the frozen storage tube;

[0039] When the frozen storage tube is taken out, the same operation mode is adopted to transfer the frozen storage tube from the designated high-density tray to the standard density tray, which is convenient for taking out, it should be noted that the ID recognition technology for the frozen storage tube adopts existing conventional technology, which will not be described in detail, and the device cooperates with the artificial intelligence program to pick the frozen storage tube from the high-density tray to the standard density tray, and vice versa.

[0040] The above is only the preferred embodiment of the utility model, it should be pointed out that for ordinary technical personnel in the technical field, without departing from the principle of the utility model, a number of improvements and refinements can be made, which should also be regarded as the protection range of the utility model. The structures, devices and operation methods not specifically described and explained in the utility model are implemented according to the conventional means in the field without special description and limitation.

Claims

1. Artificial intelligence cryopreservation tube picking device that can operate at ultra-low temperature, comprising a support frame (1), characterized in that, The inner side of the support frame (1) is provided with a heat preservation partition plate (2), a driving sliding groove (21) is formed in the middle of the surface of the heat preservation partition plate (2), and the inner side of the support frame (1) is divided into a mechanical movement chamber and a cryopreservation tube storage chamber by the heat preservation partition plate (2); A straight line sliding table (3) parallel to the driving sliding groove (21) is arranged in the mechanical movement chamber, a main sliding seat (4) is slidably connected to the straight line sliding table (3), a lifting frame (44) is connected to the outer side of the main sliding seat (4) through a lifting adjusting assembly, the bottom end of the lifting frame (44) is connected with a bottom frame (45), the middle part of the bottom frame (45) penetrates through an outer sleeve (52), a main lifting arm (5) penetrates through the outer sleeve (52), and the bottom end of the main lifting arm (5) and the outer sleeve (52) extends into the cryopreservation tube storage chamber through the driving sliding groove (21). The bottom end of the outer sleeve (52) is connected with a fixed arm (57), a tube lifting sleeve (58) is arranged at one end of the fixed arm (57), a vertical adjusting groove (59) is formed in the outer surface of the bottom end of the outer sleeve (52) above the fixed arm (57), the bottom end of the main lifting arm (5) is connected with a lower supporting arm (54) below the fixed arm (57), and the outer surface of the lower end of the main lifting arm (5) is connected with an upper supporting arm (53) extending to the outside of the vertical adjusting groove (59) and above the fixed arm (57), a thimble (55) is arranged at one end of the lower supporting arm (54) below the tube lifting sleeve (58), and a gland (56) is arranged at one end of the upper supporting arm (53) above the tube lifting sleeve (58).

2. The artificial intelligence cryogenic tube picking device capable of operating at ultra-low temperature according to claim 1, wherein, The lifting adjusting assembly comprises a positioning plate (41) fixedly arranged on the outer side of the main sliding seat (4), a lifting cylinder (43) is fixedly arranged at the lower end of the positioning plate (41), the telescopic end of the lifting cylinder (43) is fixedly connected with the lifting frame (44), and a vertical sliding rail (42) is further arranged on the outer side of the main sliding seat (4).

3. The artificial intelligence cryogenic tube picking device capable of operating at ultra-low temperature according to claim 1, wherein, The outer side of the top end of the outer sleeve (52) is provided with a gear disc (47) above the bottom frame (45), a driving motor (46) is fixedly arranged on the outer side of the lifting frame (44), the output end of the driving motor (46) is connected with a driving gear (48), the driving gear (48) is in meshing connection with the gear disc (47), and the outer sleeve (52) and the bottom frame (45) are in rotary connection.

4. The artificial intelligence cryogenic tube picking device capable of operating at ultra-low temperature according to claim 1, wherein, The outer side of the top end of the main lifting arm (5) is provided with a groove, and a thimble cylinder (51) is arranged in the groove, the telescopic end of the thimble cylinder (51) is provided with a connecting plate (511), and the connecting plate (511) is fixedly connected with the inner wall top end of the outer sleeve (52).

5. The artificial intelligence cryogenic tube picking device capable of operating at ultra-low temperature according to claim 1, wherein, The outer surface of the main lifting arm (5) is also provided with a limiting sliding rail (510) in the vertical direction, the inner wall of the outer sleeve (52) is provided with a vertical sliding groove corresponding to the limiting sliding rail (510), and the main lifting arm (5) is slidably connected to the inner side of the outer sleeve (52) through the limiting sliding rail (510).

6. The artificial intelligence cryogenic tube picking device capable of operating at ultra-low temperature according to claim 1, wherein, Two groups of tray guide rails (7) are symmetrically arranged in the cryopreservation tube storage chamber, each group of the tray guide rails (7) has two tray guide rails, a tray channel is formed between each group of the tray guide rails (7), a plurality of cryopreservation tube trays can be placed in the tray channel, and the two ends of the tray guide rail (7) are fixedly connected with the support frame (1) through the cross beam.

7. The artificial intelligence cryogenic tube picking device capable of operating at ultra-low temperature according to claim 6, characterized in that, A camera mounting box (6) is mounted above the two groups of tray guide rails (7) on the heat preservation partition plate (2), and a camera for monitoring the cryopreservation tube storage chamber is mounted in the camera mounting box (6).

Images