Sample storage device

Abstract

The utility model relates to the technical field of sample storage, and provides a sample storage device which comprises a storage shelf, a cryopreservation box bracket and a manipulator, and an access opening is formed in one side of the storage shelf; the multiple cryopreservation box brackets are arranged in the storage shelf at intervals in the height direction of the storage shelf, and dragging grooves are formed in the sides, close to the storing and taking openings, of the cryopreservation box brackets; the mechanical arm comprises a towing hook capable of moving on the side, close to the storing and taking opening, of the storage goods shelf, and the towing hook is used for being embedded into the dragging groove so as to push and pull the corresponding cryopreservation box bracket. The storage density of the sample storage device can be improved, and meanwhile, the convenience of sample access is kept.

Description

Technical Field

[0001] This application relates to the field of sample storage technology, and in particular to a sample storage device. Background Technology

[0002] Sample storage devices mainly refer to equipment or containers used to preserve and store various samples (such as biological samples, geological samples, environmental monitoring samples, etc.).

[0003] Existing sample storage devices include storage racks and cryovials. Cryovials hold sample tubes, and multiple cryovials are spaced apart along the height of the storage rack. When samples need to be retrieved, a gripping device is typically used to reach into the storage rack and grab the cryovial. To facilitate the movement of the gripping device, the spacing between the cryovials is relatively large, resulting in wasted storage space and thus low storage density in existing storage devices. Utility Model Content

[0004] The purpose of this application is to provide a sample storage device that addresses the problem of low storage density in existing sample storage devices.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] Some embodiments of this application provide a sample storage device, including:

[0007] A storage rack, wherein one side of the storage rack is provided with an access port;

[0008] Multiple cryopreservation box trays are provided at intervals along the height direction of the storage shelf within the storage shelf, and each cryopreservation box tray has a drag groove on the side adjacent to the access port.

[0009] The robotic arm includes a hook that can move on one side of the storage shelf adjacent to the access port, the hook being used to engage in the drag slot to push or pull the corresponding cryopreservation box tray.

[0010] The sample storage device provided in this application embodiment allows a robotic arm to easily access cryopreservation box trays via an access port on one side of the storage shelf. Multiple cryopreservation box trays can store multiple cryopreservation boxes. A hook on the robotic arm can move to the desired cryopreservation box tray position and connect to the tray's drag groove to push and pull the tray, thus enabling the storage and retrieval of cryopreservation boxes on the shelf. Furthermore, since the drag groove is located on the side of the cryopreservation box tray adjacent to the access port of the storage shelf (i.e., the outer side), the hook only needs to move to the outer side of the storage shelf without extending between the cryopreservation box trays. Therefore, there is no need to reserve space for the hook's movement between the cryopreservation box trays, thereby reducing the interlayer spacing of the cryopreservation box trays and increasing the storage density of the storage device.

[0011] In some embodiments, the storage rack includes a plurality of storage compartments arranged side by side along the length direction, each of the storage compartments having an access port on one side, and each of the storage compartments having a plurality of cryopreservation box holders spaced apart along the height direction;

[0012] And / or, each of the cryopreservation box holders is provided with multiple support positions for carrying cryopreservation boxes.

[0013] In some embodiments, the storage shelf has a temporary storage space on one side in the width direction, the temporary storage space being used to temporarily store the cryopreservation box tray.

[0014] In some embodiments, the robotic arm further includes:

[0015] A support base, which is movable on the side of the storage shelf adjacent to the access port and is used to support the cryogenic box tray;

[0016] The first guide rail is provided on the bearing seat along the pushing and pulling direction of the tow hook;

[0017] The first slider is slidably connected to the first guide rail and connected to the tow hook.

[0018] In some embodiments, the support base is provided with rollers on opposite sides in the vertical direction of the push-pull direction, and the rollers are used to support the cryopreservation box bracket.

[0019] In this embodiment, the rollers on both sides of the support seat can bear the weight of the cryopreservation box bracket, while reducing the resistance during the pushing and pulling process, thereby improving the operating efficiency and reliability of the entire device.

[0020] In some embodiments, an elastic element is connected between the first slider and the tow hook.

[0021] The embodiments of this application utilize elastic elements to provide shock absorption and cushioning, thereby improving the stability of the frozen storage box tray movement and ensuring that it is pushed into the storage shelf.

[0022] In some embodiments, the sample storage device further includes:

[0023] An insulated box, wherein the insulated box is equipped with the storage shelf and the robotic arm;

[0024] A drive mechanism, located on the insulated box and connected to the robot arm, is used to drive the robot arm to move horizontally along the length of the storage rack, to move vertically along the height of the storage rack, and to drive the hook to move in a pushing and pulling motion along the width of the storage rack.

[0025] In some embodiments, the drive mechanism includes:

[0026] The base is provided on the insulated box;

[0027] The second guide rail is disposed on the base along the length direction;

[0028] A slide block is slidably connected to the second guide rail;

[0029] The first motor, the second motor, and the third motor are all mounted on the slide. The first motor is connected to the base via a first transmission pair and is used to drive the slide to move horizontally relative to the base. The second motor is connected to the support via a second transmission pair and is used to drive the robot to move up and down. The third motor is connected to the first slider via a third transmission pair and is used to drive the hook to move in a pushing and pulling motion.

[0030] In some embodiments, the insulated box includes a storage area and a motor operating area. The storage area is provided with the storage shelf and the robotic arm. The motor operating area is provided with the base, the first motor, the second motor and the third motor, and a heat insulation component is provided between the motor operating area and the storage area.

[0031] The embodiments of this application use heat insulation components to reduce heat convection between the motor operating area and the storage area, avoid the motor being subjected to low temperature shocks in the storage area, and prevent the heat from the motor from being transferred to the storage area, thus affecting the sample storage effect.

[0032] In some embodiments, the drive mechanism further includes a mounting bracket disposed in the storage area, the mounting bracket having a third guide rail extending along the height direction, and the support seat being slidably connected to the third guide rail;

[0033] Furthermore, the mounting bracket is connected to the slide block via a connecting seat, which is located between the motor operating area and the storage area. The connecting seat covers the end of the second transmission pair adjacent to the second motor and the end of the third transmission pair adjacent to the third motor.

[0034] The embodiments of this application can improve the stability and reliability of the robot's movement by using a mounting bracket and a third guide rail. Furthermore, the connecting seat can connect the slide to the mounting bracket, enabling the robot to move horizontally. On the other hand, it can also reduce the amount of cold air transmitted to the motor operating area through the transmission pair, thus avoiding affecting the motor's operation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is one of the structural schematic diagrams of the sample storage device provided in the embodiments of this application;

[0037] Figure 2 A second schematic diagram of the sample storage device provided in the embodiments of this application;

[0038] Figure 3 This is one of the structural schematic diagrams of the cryopreservation box tray provided in the embodiments of this application;

[0039] Figure 4 This is the second schematic diagram of the structure of the cryopreservation box holder provided in the embodiments of this application;

[0040] Figure 5 A schematic diagram of the structure of the robotic arm provided in the embodiments of this application;

[0041] Figure 6 for Figure 2 A magnified view of part A;

[0042] Figure 7 An assembly diagram of the robotic arm provided in an embodiment of this application;

[0043] Figure 8 for Figure 7 A magnified view of section B;

[0044] Figure 9 for Figure 8 A sectional view;

[0045] Figure 10 This is a schematic diagram of the structure of the third transmission pair provided in an embodiment of this application.

[0046] The following are the labeling elements in the figure:

[0047] 1. Storage racks; 2. Frozen storage box trays; 3. Robotic arms; 4. Storage and retrieval ports; 5. Traction channels;

[0048] 6. Tow hook; 7. Storage compartment; 8. Loading position; 9. Temporary storage position; 10. Loading base;

[0049] 11. First guide rail; 12. First slider; 13. Roller; 14. Elastic element; 15. Insulation box;

[0050] 16. Drive mechanism; 17. Base; 18. Second guide rail; 19. Slide; 20. First motor;

[0051] 21. Second motor; 22. Third motor; 23. Rack; 24. Gear; 25. First sprocket;

[0052] 26. First chain; 27. First positioning block; 28. Drive shaft; 29. ​​Second sprocket;

[0053] 30. Third sprocket; 31. Fourth sprocket; 32. Second chain; 33. Second positioning block;

[0054] 34. Connecting shaft; 35. Insert block; 36. Square shaft; 37. Storage area; 38. Motor running area;

[0055] 39. First accordion cloth; 40. Mounting bracket; 41. Third guide rail; 42. Connecting seat;

[0056] 43. Fourth guide rail; 44. Slide table; 45. Second slider. Detailed Implementation

[0057] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0058] In the description of the embodiments of this application, it should be understood that the terms "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0060] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0061] Existing sample storage devices include storage racks and cryovials. Cryovials hold sample tubes, and multiple cryovials are spaced apart along the height of the storage rack. When samples need to be retrieved, a gripping device is typically used to reach into the storage rack and grab the cryovial. To facilitate the movement of the gripping device, the spacing between the cryovials is relatively large, resulting in wasted storage space and thus low storage density in existing storage devices.

[0062] To solve the above-mentioned technical problems, this application optimizes the cooperation position between the robotic arm 3 and the cryopreservation box tray 2 by setting a drag groove 5 on the outside of the cryopreservation box tray 2, so that the drag hook 6 of the robotic arm 3 can move on the outside to push and pull without having to extend into the storage shelf 1. This can reduce the layer spacing of the cryopreservation box tray 2, thereby increasing the storage density of the storage shelf 1, while maintaining the convenience of sample storage and retrieval.

[0063] In some embodiments, refer to Figures 1 to 5 As shown, this application provides a sample storage device, including: a storage shelf 1, cryopreservation box trays 2, and a robotic arm 3. The storage shelf 1 has an access port 4 on one side; multiple cryopreservation box trays 2 are spaced apart within the storage shelf 1 along the height direction Y, and each cryopreservation box tray 2 has a drag groove 5 on the side adjacent to the access port 4; the robotic arm 3 includes a hook 6 that can move on the side of the storage shelf 1 adjacent to the access port 4, the hook 6 being used to engage with the drag groove 5 to push or pull the corresponding cryopreservation box tray 2.

[0064] Specifically, the storage rack 1 serves as the frame of the entire device, providing a stable storage environment and is equipped with an access port 4 to facilitate the push and pull of the frozen storage box tray 2 by the robotic arm 3.

[0065] Cryopreservation box trays 2 are used to store cryopreservation boxes containing sample tubes. The cryopreservation box trays 2 are arranged along the height Y direction of the storage shelf 1. Each cryopreservation box tray 2 is equipped with a drag groove 5, which is located on the side (i.e., the outer side) near the access port 4 of the storage shelf 1. Figure 3 As shown, the drag slot 5 can be located at the bottom of the outside of the cryopreservation box tray 2, or, as... Figure 4As shown, the drag groove 5 can also be located on the outer side of the cryopreservation box tray 2. This arrangement allows the drag hook of the robotic arm 3 (with a snap-fit ​​protrusion that matches the drag groove 5) to directly contact the drag groove 5 on the outer side of the storage rack 1, without having to go deep into the narrow space between the two cryopreservation box trays 2.

[0066] When a cryopreservation box needs to be stored, the robotic arm 3 moves according to instructions, causing its hook 6 to accurately engage with the drag groove 5 of the cryopreservation box holder 2, and then pushes the cryopreservation box holder 2 into the storage shelf 1. Similarly, when a cryopreservation box needs to be retrieved from a certain location on the storage shelf 1, the robotic arm 3 moves according to instructions to the outside of the corresponding cryopreservation box holder 2, and causes its hook 6 to accurately engage with the drag groove 5 of the holder, and then pulls out the cryopreservation box holder 2, thereby realizing the storage and retrieval of cryopreservation boxes on the shelf.

[0067] Understandably, since the tow hook 6 only needs to be operated from the outside, there is no need to reserve additional space for the tow hook 6 to move between the cryopreservation box trays 2. Therefore, the distance between adjacent cryopreservation box trays 2 can be effectively reduced, thereby improving storage efficiency and density.

[0068] Therefore, the sample storage device provided in this application embodiment effectively improves storage density, simplifies operation procedures, and is easy to use.

[0069] In some embodiments, refer to Figure 1 and Figure 2 As shown, the storage rack 1 includes multiple storage compartments 7 arranged side by side along the length direction X. Each storage compartment 7 has an access port 4 on one side, and each storage compartment 7 has multiple freezer box trays 2 arranged at intervals along the height direction Y.

[0070] Specifically, the storage rack 1 is no longer a single large space, but is divided into multiple independent small storage compartments 7. These storage compartments 7 are arranged side by side along the length X of the storage rack 1, and each storage compartment 7 has multiple cryogenic trays 2 arranged along the height Y, which improves the compactness of the layout and makes full use of the space of the storage rack 1. Furthermore, each storage compartment 7 is an independent unit, which makes it easier for the robotic arm 3 to accurately position the required cryogenic tray 2, reducing the possibility of misoperation.

[0071] Therefore, the embodiments of this application can further improve the space utilization and storage density of the sample storage device, while maintaining the convenience of sample access.

[0072] In some embodiments, refer to Figure 3 and Figure 4 As shown, each cryopreservation box holder 2 is provided with multiple support positions 8 for supporting cryopreservation boxes.

[0073] Specifically, each cryopreservation box tray 2 can be provided with multiple (e.g., 4) independent support positions 8 to accommodate multiple cryopreservation boxes at the same time.

[0074] Compared to the traditional method of a single tray carrying a single cryopreservation box, the multi-carrying-position 8 design of this application can increase the number of cryopreservation boxes several times within the same space, greatly improving storage density. Furthermore, the multi-carrying-position 8 design means that more samples can be stored at the same height, reducing the number of cryopreservation box tray layers that need to be managed, thereby simplifying the overall management system.

[0075] In some embodiments, refer to Figure 2 As shown, the storage shelf 1 has a temporary storage position 9 on one side of the width direction Z, which is used to temporarily store the frozen storage box tray 2.

[0076] Specifically, the temporary storage position 9 is used to temporarily store cryopreservation box trays 2 that are about to be stored or retrieved. By introducing the temporary storage position 9, the cryopreservation box trays 2 can be placed here first by a conveying device (such as a robot), and then picked up and pushed into the designated position on the storage shelf 1 by the internal robotic arm 3, or the cryopreservation box trays 2 can be pulled out of the storage shelf 1 by the robotic arm 3 and placed on the temporary storage position 9 for easy retrieval. This step-by-step operation reduces the complexity of a single action, making the operation of the robotic arm 3 more precise and safer.

[0077] Furthermore, when multiple cryopreservation trays 2 need to be operated continuously (such as in batch access), the temporary storage position 9 can serve as a buffer, making the operation smoother and eliminating the need to wait for each cryopreservation tray 2 to be fully placed before proceeding to the next step.

[0078] Therefore, the temporary storage position 9 in this embodiment not only simplifies the storage and retrieval process of the cryopreservation box tray 2, but also improves the overall efficiency and flexibility of the device, while ensuring the safety of the samples and the accuracy of the operation.

[0079] In some embodiments, refer to Figure 2 and Figure 5 As shown, the robotic arm 3 also includes: a support 10, a first guide rail 11, and a first slider 12. The support 10 can move on the side of the storage shelf 1 adjacent to the access port 4 and is used to support the frozen storage box tray 2. The first guide rail 11 is provided on the support 10 along the pushing and pulling direction of the hook 6 (i.e., the width direction Z of the storage shelf 1). The first slider 12 is slidably connected to the first guide rail 11 and connected to the hook 6.

[0080] Specifically, the support seat 10 can move freely on one side of the storage shelf 1, allowing the robotic arm 3 to reach a designated position. Its position can be flexibly adjusted in both horizontal and vertical directions. The first slider 12 can drive the hook 6 to move precisely along the first guide rail 11, achieving push-pull actions. Through the combination of the movement of the support seat 10 and the sliding of the first slider 12, the cryogenic container tray 2 can be precisely pulled from the shelf onto the support seat 10 or the tray on the support seat 10 can be pushed into the shelf.

[0081] Understandably, the design of the first guide rail 11 and the first slider 12 can ensure the straightness and stability of the tow hook 6 when performing push and pull actions, reduce the possibility of deviation, improve the accuracy of operation, and reduce the risk of misoperation, which is especially important for samples that require highly sensitive handling.

[0082] Therefore, the embodiments of this application not only enhance the operational flexibility and precision of the robotic arm 3, but also simplify the storage and retrieval process of the cryopreservation box tray 2.

[0083] In some embodiments, refer to Figure 5 As shown, the support base 10 is provided with rollers 13 on opposite sides in the vertical direction of the push-pull direction. The rollers 13 are used to support the cryopreservation box bracket 2.

[0084] Specifically, the push-pull direction is the width direction Z of the storage shelf 1, which is the length direction of the support seat 10. The perpendicular direction of the push-pull direction is the width direction of the support seat 10. Multiple rollers 13 can be set on the left and right sides of the support seat 10. These rollers 13 are used to directly support the cryopreservation box tray 2. The rollers 13 can evenly distribute the weight of the cryopreservation box tray 2, ensuring that it is stably placed on the support seat 10. By using rollers 13 instead of direct sliding contact, the friction generated during the push-pull process is greatly reduced, allowing the robotic arm 3 to move the cryopreservation box tray 2 more easily.

[0085] Therefore, the roller 13 design in this embodiment can provide more stable support, while reducing the friction between the cryopreservation box holder 2 and the support seat 10, so that the force required for the hook 6 to push or pull the cryopreservation box holder 2 is smaller, improving operating efficiency, and also reducing friction noise.

[0086] In some embodiments, refer to Figure 5 As shown, an elastic element 14 connects the first slider 12 and the tow hook 6.

[0087] Specifically, the tow hook 6 is connected to the first slider 12 via an elastic element 14. The elastic element 14 can be a spring, spring rod, rubber pad, or other elastic material. When the tow hook 6 pushes or pulls the cryopreservation box tray 2, the elastic element 14 can absorb vibration and impact, playing a shock-absorbing and buffering role, ensuring that the cryopreservation box tray 2 moves smoothly.

[0088] Understandably, shock absorption and cushioning are especially important for sensitive samples that require particularly careful handling. They can effectively prevent the samples from being subjected to unnecessary vibrations or impacts during movement, ensuring the safety of the samples.

[0089] Therefore, the elastic element 14 in this embodiment can improve the stability and safety of the cryopreservation box tray 2 during movement.

[0090] In some embodiments, refer to Figure 1 , Figure 2 and Figure 5 As shown, the sample storage device also includes: an insulated box 15 and a drive mechanism 16. The insulated box 15 is equipped with a storage shelf 1 and a robot arm 3. The drive mechanism 16 is located on the insulated box 15 and is driven to connect with the robot arm 3. It is used to drive the robot arm 3 to move horizontally along the length direction X of the storage shelf 1, to move up and down along the height direction Y of the storage shelf 1, and to drive the tow hook 6 to move push and pull along the width direction Z of the storage shelf 1.

[0091] Specifically, the insulated box 15 of the sample storage device can be a refrigerator or freezer to maintain a low-temperature environment inside, ensuring that the samples in the cryopreservation box can be stored for a long time at a suitable temperature. The insulated box 15 is equipped with a storage shelf 1, a robotic arm 3 and a drive mechanism 16, which together constitute a closed and controlled storage system.

[0092] The drive mechanism 16 is a three-dimensional drive mechanism, including horizontal movement (X direction), lifting movement (Y direction) and pushing and pulling movement (Z direction). The drive mechanism 16 enables the robot arm 3 to move horizontally along the length direction X of the storage shelf 1 and to move vertically along the height direction Y to determine the specific position of the target cryopreservation box tray 2 on the shelf. It can also drive the hook 6 of the robot arm 3 to perform pushing and pulling actions along the width direction Z, thereby pulling the cryopreservation box tray 2 out of or into the shelf.

[0093] The working principle of the sample storage device provided in the embodiments of this application is described below, mainly including the retrieval process and the storage process.

[0094] Retrieval Process: When it is necessary to retrieve the cryopreservation tray 2 from a specific location, the control system of the sample storage device first controls the drive mechanism 16 to translate and lift according to the preset position information, so that the robot arm 3 is precisely moved to the position of the tray, and the hook of the robot arm 3 is engaged in the drag groove 5 of the tray. Then, the robot arm 3 is controlled to smoothly pull the cryopreservation tray 2 out of the shelf and move it to the temporary storage position 9 on the shelf. After completing the operation, the robot arm 3 can return to the initial position to prepare for the next task.

[0095] Storage process: To store a new cryopreservation tray 2, first place it on the temporary storage position 9 of the shelf. The drive mechanism 16 drives the robotic arm 3 to move to the temporary storage position 9, and the hook 6 of the robotic arm 3 engages with the drag groove 5 of the tray. Then, it moves and pushes the tray into the designated storage location on the shelf. After the operation is completed, the robotic arm 3 returns to its original position and waits for the next instruction.

[0096] Therefore, in this embodiment of the application, by integrating the drive mechanism 16, the robotic arm 3 can move freely in three-dimensional space, realizing highly automated storage and retrieval operations of the cryopreservation box tray 2, effectively improving the efficiency and safety of sample management.

[0097] In some embodiments, refer to Figure 2 and Figure 6 As shown, the drive mechanism 16 includes: a base 17, a second guide rail 18, a slide 19, a first motor 20, a second motor 21, and a third motor 22. The base 17 is mounted on the insulation box 15; the second guide rail 18 is mounted on the base 17 along its length X; the slide 19 is slidably connected to the second guide rail 18; the first motor 20, the second motor 21, and the third motor 22 are all mounted on the slide 19. The first motor 20 is connected to the base 17 via a first transmission pair and is used to drive the slide 19 to move horizontally relative to the base 17; the second motor 21 is connected to the support seat 10 via a second transmission pair and is used to drive the robotic arm 3 to perform lifting and lowering movements; the third motor 22 is connected to the first slider 12 via a third transmission pair and is used to drive the tow hook 6 to perform pushing and pulling movements.

[0098] Specifically, the base 17 is mounted on the insulated box 15, serving as the basic platform for the entire drive mechanism 16. The slide 19 is slidably connected to the second guide rail 18, carrying three motors and capable of horizontal movement relative to the base 17, thereby driving the robotic arm 3 to translate. Among them, the first motor 20 is responsible for driving the translation of the robotic arm 3, the second motor 21 drives the lifting and lowering of the robotic arm 3, and the third motor 22 is responsible for driving the pushing and pulling of the tow hook 6.

[0099] The first, second, and third transmission pairs of this application can be gear and rack transmission devices, sprocket and chain transmission devices, conveyor belt transmission devices, etc., and the specific selection can depend on the actual application requirements and performance requirements.

[0100] For example, such as Figures 6 to 8 As shown, the first transmission pair can be a gear and rack transmission device, including a rack 23 and a gear 24. The rack 23 and the second guide rail 18 are arranged side by side on the base 17. The gear 24 is connected to the output shaft of the first motor 20, and the gear 24 meshes with the rack 23. When the first motor 20 rotates, the slide 19 can move horizontally along the rack 23 through the gear 24.

[0101] like Figure 2 , Figure 5 , Figure 7 and Figure 8 As shown, the second transmission pair can be a sprocket and chain transmission device, including two first sprockets 25 and a first chain 26 wound around the two first sprockets 25. The whole is arranged along the height direction Y. The output shaft of the second motor 21 is connected to the upper first sprocket 25. The support 10 is provided with a first positioning block 27, which is fixedly connected to the first chain 26, thereby fixing the robot arm 3 to the first chain 26. When the second motor 21 rotates, it can carry the robot arm 3 to move up and down along the height direction Y through the first chain 26.

[0102] like Figure 2 , Figure 5 , Figures 7 to 10 As shown, the third transmission pair can be a sprocket and chain transmission device, including a transmission shaft 28, a second sprocket 29, a third sprocket 30, a fourth sprocket 31, and a second chain 32 wound around each sprocket. The first slider 12 of the robot arm 3 is fixedly connected to the second chain 32 through the second positioning block 33. The transmission shaft 28 is arranged along the height direction Y and is connected to the output shaft of the third motor 22. The second sprocket 29 is located in the middle of one side of the support seat 10 of the robot arm 3 and is connected to the transmission shaft 28. The two third sprockets 30 are respectively located at the other two ends of the support seat 10 opposite to the second sprocket 29. The two fourth sprockets 31 are respectively located on the transmission path between the two third sprockets 30 and the second sprocket 29, and are used to convert the rotation of the third motor 22 into the linear motion of the first slider 12. When the third motor 22 rotates, it drives the second sprocket 29 to rotate through the transmission shaft 28, thereby driving the third sprocket 30 and the fourth sprocket 31 to rotate, which in turn drives the second chain 32 to drive the first slider 12 to move linearly, realizing the push-pull action of the tow hook 6 along the width direction Z.

[0103] like Figure 9 As shown, the transmission shaft 28 may include a connecting shaft 34, a plug 35, and a square shaft 36. The output shaft of the third motor 22 is connected to the connecting shaft 34 through a coupling. The connecting shaft 34 is connected to the upper end of the square shaft 36 through the plug 35. The square shaft 36 is connected to the second sprocket 29, thereby transmitting the torque of the third motor 22.

[0104] Therefore, in this embodiment of the application, the driving mechanism 16 can independently control the movement of the robot arm 3 in three directions, ensuring that the hook 6 of the robot arm 3 can be accurately positioned in three-dimensional space.

[0105] In some embodiments, refer to Figure 1 , Figure 2 and Figure 6 As shown, the insulated box 15 includes a storage area 37 and a motor operating area 38. The storage area 37 is equipped with a storage shelf 1 and a robotic arm 3. The motor operating area 38 is equipped with a base 17, a first motor 20, a second motor 21 and a third motor 22. A heat insulation component (not shown in the figure) is provided between the motor operating area 38 and the storage area 37.

[0106] Specifically, storage area 37 includes storage rack 1 and robotic arm 3 for storing and operating cryopreservation box tray 2. Storage area 37 maintains a low-temperature environment to meet the temperature conditions required for sample preservation. Motor running area 38 is equipped with base 17 and components such as second guide rail 18, slide 19, and motor located on base 17.

[0107] A thermal insulation element is installed between the storage area 37 and the motor operating area 38 to provide thermal insulation. The thermal insulation element can be made of high-efficiency thermal insulation materials, such as polyurethane foam or fiberglass, which have low thermal conductivity and can effectively reduce heat transfer.

[0108] In one example, such as Figure 6 and Figure 7 As shown, the heat insulation component may include a first accordion cloth 39 and a second accordion cloth (not shown in the figure). One side of the slide 19 is connected to the first accordion cloth 39, and the other side is connected to the second accordion cloth, ensuring that the accordion cloths on both sides can be compressed and stretched accordingly when the slide 19 moves horizontally. When the slide 19 moves horizontally along the second guide rail 18, the accordion cloth on one side will be compressed as the slide 19 moves forward, while the accordion cloth on the other side will be stretched, always maintaining effective separation between the motor operating area 38 and the storage area 37.

[0109] This embodiment of the application uses a heat insulation component to reduce heat convection between the motor operating area 38 and the storage area 37, thus protecting the motor from the low-temperature environment of the storage area 37. This avoids problems such as difficulty in cold starting and lubricant solidification caused by sudden temperature drops, ensuring the reliability and lifespan of the motor. Simultaneously, the heat insulation component effectively prevents heat generated during motor operation from being conducted to the storage area 37, maintaining the low-temperature state within the storage area 37 and ensuring the preservation quality of the sample.

[0110] In some embodiments, refer to Figure 2 , Figures 7 to 9As shown, the drive mechanism 16 also includes a mounting bracket 40 located in the storage area 37. The mounting bracket 40 is provided with a third guide rail 41 extending along the height direction Y. The support seat 10 is slidably connected to the third guide rail 41. The mounting bracket 40 is connected to the slide seat 19 through a connecting seat 42. The connecting seat 42 is located between the motor operating area 38 and the storage area 37. The connecting seat 42 covers one end of the second transmission pair adjacent to the second motor 21 and one end of the third transmission pair adjacent to the third motor 22.

[0111] Specifically, the mounting bracket 40 is located within the storage area 37, providing a stable platform for mounting the third guide rail 41 and other related components. For example, the first sprocket 25 at the lower part of the second transmission pair is mounted on the bottom of the mounting bracket 40, and the lower end of the square shaft 36 of the third transmission pair is mounted on the bottom of the mounting bracket 40. Furthermore, the storage area 37 of the insulation box 15 is also provided with a fourth guide rail 43 arranged along the length direction X. A slide 44 can be provided at the bottom of the mounting bracket 40, and the slide 44 is slidably connected to the fourth guide rail 43.

[0112] The support base 10 of the robotic arm 3 is provided with a second slider 45, which is slidably connected to the third guide rail 41 to ensure the smoothness and accuracy of the lifting and lowering movement of the robotic arm 3.

[0113] In addition, the top of the insulated box 15 is provided with a groove (not shown in the figure) located between the motor running area 38 and the storage area 37. The connecting seat 42 is slidably sealed in the groove to ensure that it can move horizontally with the slide 19.

[0114] The connecting seat 42 can be made of materials such as plastic and covers the upper part of the first chain 26 of the second transmission pair and the connecting shaft 34 of the third transmission pair. The connecting seat 42 connects the slide 19 to the mounting frame 40, so that when the slide 19 moves horizontally, it can drive the robot 3 on the mounting frame 40 to move horizontally. On the other hand, it can also reduce the amount of cold air transmitted to the motor operating area 38 through the transmission pair, thereby ensuring the normal operation of the motor.

[0115] Therefore, by introducing the mounting bracket 40, the third guide rail 41, and the connecting seat 42, this embodiment of the application not only improves the stability and reliability of the movement of the robot arm 3, but also ensures the normal working environment of the motor.

[0116] The above are merely preferred embodiments of this application and are not intended to limit the embodiments of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A sample storage device, characterized in that, include: A storage rack, wherein one side of the storage rack is provided with an access port; Multiple cryopreservation box trays are provided at intervals along the height direction of the storage shelf within the storage shelf, and each cryopreservation box tray has a drag groove on the side adjacent to the access port. The robotic arm includes a hook that can move on one side of the storage shelf adjacent to the access port, the hook being used to engage in the drag slot to push or pull the corresponding cryopreservation box tray.

2. The sample storage device according to claim 1, characterized in that, The storage rack includes multiple storage compartments arranged side by side along the length direction, each storage compartment has an access port on one side, and each storage compartment has multiple cryogenic box holders arranged at intervals along the height direction. And / or, each of the cryopreservation box holders is provided with multiple support positions for carrying cryopreservation boxes.

3. The sample storage device according to claim 1, characterized in that, The storage shelf has a temporary storage space on one side in the width direction, which is used to temporarily store the cryopreservation box tray.

4. The sample storage device according to claim 1, characterized in that, The robotic arm also includes: A support base, which is movable on the side of the storage shelf adjacent to the access port and is used to support the cryogenic box tray; The first guide rail is provided on the bearing seat along the pushing and pulling direction of the tow hook; The first slider is slidably connected to the first guide rail and connected to the tow hook.

5. The sample storage device according to claim 4, characterized in that, The support base is provided with rollers on opposite sides in the vertical direction of the push-pull direction, and the rollers are used to support the cryopreservation box bracket.

6. The sample storage device according to claim 4, characterized in that, An elastic element connects the first slider to the tow hook.

7. The sample storage device according to any one of claims 4 to 6, characterized in that, The sample storage device further includes: An insulated box, wherein the insulated box is equipped with the storage shelf and the robotic arm; A drive mechanism, located on the insulated box and connected to the robot arm, is used to drive the robot arm to move horizontally along the length of the storage rack, to move vertically along the height of the storage rack, and to drive the hook to move in a pushing and pulling motion along the width of the storage rack.

8. The sample storage device according to claim 7, characterized in that, The drive mechanism includes: The base is provided on the insulated box; The second guide rail is disposed on the base along the length direction; A slide block is slidably connected to the second guide rail; The first motor, the second motor, and the third motor are all mounted on the slide. The first motor is connected to the base via a first transmission pair and is used to drive the slide to move horizontally relative to the base. The second motor is connected to the support via a second transmission pair and is used to drive the robot to move up and down. The third motor is connected to the first slider via a third transmission pair and is used to drive the hook to move in a pushing and pulling motion.

9. The sample storage device according to claim 8, characterized in that, The insulated box includes a storage area and a motor operating area. The storage area is equipped with the storage shelf and the robotic arm. The motor operating area is equipped with the base, the first motor, the second motor and the third motor. A heat insulation component is provided between the motor operating area and the storage area.

10. The sample storage device according to claim 9, characterized in that, The drive mechanism also includes a mounting bracket disposed in the storage area, the mounting bracket being provided with a third guide rail extending along the height direction, and the support seat being slidably connected to the third guide rail; Furthermore, the mounting bracket is connected to the slide block via a connecting seat, which is located between the motor operating area and the storage area. The connecting seat covers the end of the second transmission pair adjacent to the second motor and the end of the third transmission pair adjacent to the third motor.

Images