Medical cryopreservation tube automatic sorting device based on flexible vibration

Abstract

The utility model discloses an automatic sorting device for medical cryopreservation tubes based on flexible vibration, which comprises a vibration screening device for carrying out preliminary posture adjustment on the cryopreservation tubes and conveying the cryopreservation tubes in one direction; the arrangement device is located in the conveying direction of the vibration screening device and connected with the vibration screening device, and a rectangular notch allowing the cryopreservation tubes to fall down is formed in the bottom of the conveying tail end of the arrangement device; the posture detection device is arranged above the arrangement device and is used for carrying out positive and negative posture recognition on the cryopreservation tubes at the tail end of the arrangement device; the overturning device is arranged below the arrangement device, corresponds to the falling position of the cryopreservation tubes and is used for overturning the cryopreservation tubes in reverse postures into correct postures required by sorting; and the storage device is positioned below the arrangement device and is used for storing the fallen cryopreservation tubes. According to the utility model, automatic sorting of the cryopreservation tubes can be realized, and the control precision, stability and efficiency of sorting of the cryopreservation tubes are improved.

Description

An automated sorting device for medical cryopreservation tubes based on flexible vibration Technical Field

[0001] This utility model relates to the field of automated sorting, and in particular to an automatic sorting device for medical cryopreservation tubes based on flexible vibration. Background Technology

[0002] Large biological laboratories and hospital pathology departments use a large number of cryovials daily for storing reagents or pathological tissues. Sorting and storing cryovials is crucial for the storage, management, and rapid retrieval of biological sample information. Currently, the sorting of the vast majority of medical cryovials is done manually, resulting in low efficiency. Traditional automated cryovial sorting systems suffer from problems such as complex structure, high equipment cost, and inability to achieve high-efficiency, low-cost automated sorting. Summary of the Invention

[0003] Purpose of the utility model: In order to overcome the shortcomings of the prior art, this utility model discloses an automatic sorting device for medical cryopreservation tubes based on flexible vibration.

[0004] Summary of the utility model: The automatic sorting device for medical cryopreservation tubes based on flexible vibration disclosed in this utility model includes:

[0005] The vibrating screening device performs initial orientation adjustment on the cryopreservation tubes and transports them in one direction.

[0006] An arranging device is located in the transmission direction of the vibrating screening device and connected to it. A rectangular slot is opened at the bottom of the transmission end of the arranging device for the cryopreservation tubes to fall into.

[0007] An attitude detection device is located above the arrangement device to identify the forward and reverse attitudes of the cryopreservation tubes at the end of the arrangement device.

[0008] The flipping device is located below the sorting device and corresponds to the falling position of the cryopreservation tubes. It flips the cryopreservation tubes in the wrong position to the correct position required for sorting.

[0009] The storage device, located below the arrangement device, collects the fallen cryogenic tubes.

[0010] Furthermore, the top of the vibration screening device is the inlet of the cryopreservation tube, and the bottom is a vibration screening track with a certain slope. The vibration is transmitted in one direction by the action of the vibrator. The vibration screening track is a through structure, including multiple screening tracks, and the width of each track is slightly larger than the maximum diameter of the cryopreservation tube.

[0011] Furthermore, the arrangement device includes multiple arrangement tracks, which are respectively connected to the vibrating screening track. The transmission end of the arrangement track is closed, and a rectangular slot is opened at the bottom of the transmission end.

[0012] Furthermore, the posture detection device includes a first detector and a second detector for color recognition, which correspond to the head and tail positions of the cryopreservation tube at the end of the arrangement device, respectively, and determine the positive and negative posture of the cryopreservation tube through color recognition.

[0013] Furthermore, the flipping device includes:

[0014] The rectangular slot opening and closing mechanism includes a first electric actuator and a second electric actuator located on both sides below the rectangular slot. The extension and retraction directions of the first electric actuator and the second electric actuator are consistent with the track direction. The extension and retraction ends of the first electric actuator and the second electric actuator are respectively connected to a first baffle and a second baffle. By controlling the first baffle and the second baffle to move closer to or further away from each other, the rectangular slot can be closed or opened.

[0015] The flipping mechanism, located below the rectangular slot opening and closing mechanism, includes a third electric push rod. One third electric push rod is set for each track where a cryopreservation tube is located. The telescopic end of the third electric push rod is connected to a stop block. By controlling the stop block to move from the end position of the cryopreservation tube to the middle position, the falling cryopreservation tube collides with the stop block and flips itself to achieve a change in posture.

[0016] Furthermore, the tilting device also includes a multi-track ramp, a cylindrical pipe, and a partition.

[0017] The multi-track ramp is located below the flipping mechanism and has multiple slope tracks corresponding to the rectangular slots to transport the frozen tubes that have fallen and whose attitude has been adjusted.

[0018] The cylindrical pipe is vertically arranged and includes multiple independent pipes corresponding to the multi-track ramp. Its inlet is connected to the outlet of the multi-track ramp, and the outlet is connected to the receiving device.

[0019] The flipping mechanism and multi-track ramps are separated by partitions to form multiple independent falling and flipping compartments for each cryogenic tube's falling track.

[0020] Furthermore, the storage device includes a storage box, and both sides of the storage box are provided with electric push rods for the storage box. The driving end of the electric push rods is connected to the storage box, driving the storage box to receive the cryopreservation tubes falling from the cylindrical pipe.

[0021] Beneficial effects: Compared with the prior art, the advantages of this utility model are: it can realize the automated sorting of cryopreservation tubes, and improve the control accuracy, stability and efficiency of cryopreservation tube sorting. Attached Figure Description

[0022] Figure 1 is a schematic side view of the overall structure of this utility model;

[0023] Figure 2 is a schematic diagram of the overall three-dimensional structure of this utility model. Detailed Implementation

[0024] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0025] The automated sorting device for medical cryopreservation tubes based on flexible vibration, as shown in Figures 1 and 2, includes:

[0026] Vibration screening device 1 performs preliminary attitude adjustment on the cryopreservation tubes and transports them in one direction;

[0027] Arrangement device 2 is located in the transmission direction of vibration screening device 1 and connected to it. A rectangular slot is opened at the bottom of the transmission end of arrangement device 2 for the cryopreservation tube to fall.

[0028] The attitude detection device 3 is located above the arrangement device 2 and identifies the forward and reverse attitudes of the cryopreservation tubes at the end of the arrangement device 2.

[0029] The flipping device 4 is located below the arranging device 2 and corresponds to the falling position of the cryopreservation tubes. It flips the cryopreservation tubes in the opposite position to the correct position required for sorting.

[0030] Storage device 5, located below arrangement device 2, stores the fallen cryogenic tubes.

[0031] The top of the vibration screening device 1 is the inlet of the cryopreservation tube, and the bottom is a vibration screening track 101 with a certain slope. The vibration is transmitted in one direction by the action of the vibrator. The vibration screening track 101 is a through structure, including multiple screening tracks. The width of each track is slightly larger than the maximum diameter of the cryopreservation tube. The vibration causes the cryopreservation tubes falling into the bottom of the vibration screening device 1 to be placed horizontally in the vibration screening track 101 in a positive or negative position, and the unidirectional vibration is applied to force them to enter the arrangement device 2.

[0032] The arrangement device 2 includes multiple arrangement tracks, which are respectively connected to the vibrating screening track 101. The end of the transmission end of the arrangement track is closed, and a rectangular slot is opened at the bottom of the transmission end to ensure that the cryopreservation tubes falling from the rectangular slot at the bottom of the arrangement track have only two orientations: upright and horizontal.

[0033] The posture detection device 3 includes a first detector 301 and a second detector 302 for color recognition, which correspond to the head and tail positions of the cryopreservation tube at the end of the arrangement device 2, respectively, and the orientation of the cryopreservation tube is determined by color recognition.

[0034] The aforementioned detector is an optical sensor that determines the orientation of the cryopreservation tube by acquiring the RGB values ​​at both ends. To prevent interference from the colors of the surrounding environment, such as the sorting device, the arrangement track 201 is made of black material with an RGB value of (0, 0, 0).

[0035] The posture detection device operates as follows: When the cryopreservation tube reaches the end of the arrangement track, it has two postures: forward horizontal and reverse horizontal. Taking a cryopreservation tube with a yellow body and white casing as an example: when the RGB data detected by the first detector 301 is (255, 255, 0) and the RGB data detected by the second detector 302 is (255, 255, 255), the cryopreservation tube is determined to be in a forward horizontal posture; when the RGB data detected by the first detector 301 is (255, 255, 255) and the RGB data detected by the second detector 302 is (255, 255, 0), the cryopreservation tube is determined to be in a reverse horizontal posture. After detection, the relevant information is synchronized to the flipping device 4, which then selects whether a flipping operation is needed based on this information.

[0036] The attitude detection device 3 can also determine whether the cryopreservation tubes on the 10 sets of tracks are full. When the RGB values ​​identified on the 10 sets of tracks are not (0, 0, 0), it is determined that the 10 sets of tracks are full.

[0037] The flipping device 4 includes:

[0038] The rectangular slot opening and closing mechanism includes a first electric push rod 401 and a second electric push rod 402 located on both sides below the rectangular slot. The extension and retraction directions of the first electric push rod 401 and the second electric push rod 402 are consistent with the track direction. The extension and retraction ends of the first electric push rod 401 and the second electric push rod 402 are respectively connected to a first baffle 403 and a second baffle 404. By controlling the first baffle 403 and the second baffle 404 to move closer to or further away from each other, the rectangular slot can be closed or opened.

[0039] The flipping mechanism, located below the rectangular slot opening and closing mechanism, includes a third electric push rod 405. One third electric push rod 405 is set for each track where a cryopreservation tube is located. The telescopic end of the third electric push rod 405 is connected to a stop block 406. By controlling the stop block 406 to move from the end position of the cryopreservation tube to the middle position, the falling cryopreservation tube collides with the stop block 406 and flips itself to achieve a change in posture.

[0040] The overturning device 4 also includes a multi-track ramp 407, a cylindrical pipe 408, and a partition;

[0041] The multi-track ramp 407 is located below the flipping mechanism and has multiple slope tracks corresponding to the rectangular slot to transport the frozen tube that has fallen and whose attitude has been adjusted.

[0042] The cylindrical pipe 408 is vertically arranged and includes multiple independent pipes corresponding to the multi-track ramp 407. Its inlet connects to the outlet of the multi-track ramp 407, and the outlet connects to the receiving device 5.

[0043] The flipping mechanism and the multi-track ramp 407 are separated by partitions to form multiple independent falling and flipping compartments for each cryopreservation tube falling track, ensuring that the cryopreservation tube is not disturbed by other factors during the flipping process.

[0044] The first and second electric actuators retract for 2 seconds and then extend again. After receiving a signal from the attitude detection device 3, they retract again, working in a cycle to ensure that each cryopreservation tube falls into the bottom after attitude detection. The third electric actuator is positioned slightly higher than the top of the multi-rail ramp 407 to ensure that each cryopreservation tube flips at most once and ultimately falls into the bottom multi-rail ramp 407 in a horizontal orientation. The outlet of the cylindrical pipe 408 is approximately one cryopreservation tube length above the top of the storage box, ensuring that the cylindrical pipe does not obstruct the movement of the storage box after the cryopreservation tube falls vertically into it.

[0045] The storage device 5 includes a storage box 501, with electric push rods 502 on both sides of the storage box 501. The drive end of the electric push rod 502 is connected to the storage box 501, driving the storage box 501 to receive the cryopreservation tubes falling from the cylindrical pipe 408. During operation: the electric push rods drive the storage box to move to the left, aligning the outlet of the cylindrical pipe with the first empty space at the far right of the storage box, ensuring that the first group of falling cryopreservation tubes can be smoothly filled into the empty space; thereafter, whenever the storage device receives a signal from the attitude detection device, the electric push rods push the storage box to the right by ΔX, where ΔX is approximately the maximum diameter of the cryopreservation tube; when the storage box is completely full, it is pushed to the right by 9*ΔX. At this time, the attitude detection device sends a work completion signal, and the attitude detection device and the storage device stop working, at which point a new storage box can be replaced.

Claims

1. An automatic sorting device for medical cryopreservation tubes based on flexible vibration, characterized in that, include: The vibration sorting device (1) performs preliminary posture adjustment on the cryopreservation tubes and transmits them in one direction; the arrangement device (2) is located in the transmission direction of the vibration sorting device (1) and connected to it, and the bottom of the transmission end of the arrangement device (2) is provided with a rectangular slot for the cryopreservation tubes to fall; the posture detection device (3) is located above the arrangement device (2) and identifies the forward and reverse postures of the cryopreservation tubes at the end of the arrangement device (2); the flipping device (4) is located below the arrangement device (2) and flips the cryopreservation tubes with reverse postures to the correct posture required for sorting, corresponding to the falling position of the cryopreservation tubes; the storage device (5) is located below the arrangement device (2) and stores the falling cryopreservation tubes.

2. The automatic sorting device for medical cryopreservation tubes based on flexible vibration according to claim 1, characterized in that: The top of the vibration screening device (1) is the inlet of the cryopreservation tube, and the bottom is a sloped vibration screening track (101). The vibration is transmitted in one direction by the action of the vibrator. The vibration screening track (101) is a through structure, including multiple screening tracks, and the width of each track is greater than the maximum diameter of the cryopreservation tube.

3. The automatic sorting device for medical cryopreservation tubes based on flexible vibration according to claim 2, characterized in that: The arrangement device (2) includes multiple arrangement tracks, which are respectively connected to the vibrating screening track (101). The end of the transmission end of the arrangement track is closed, and a rectangular slot is opened at the bottom of the transmission end.

4. The automatic sorting device for medical cryopreservation tubes based on flexible vibration according to claim 1, characterized in that: The posture detection device (3) includes a first detector (301) and a second detector (302) for color recognition, which correspond to the head and tail positions of the cryopreservation tube at the end of the arrangement device (2), respectively, and the positive and negative posture of the cryopreservation tube is determined by color recognition.

5. The automatic sorting device for medical cryopreservation tubes based on flexible vibration according to claim 1, characterized in that, The flipping device (4) includes: a rectangular slot opening and closing mechanism, including a first electric push rod (401) and a second electric push rod (402) located on both sides below the rectangular slot. The extension and retraction directions of the first electric push rod (401) and the second electric push rod (402) are consistent with the track direction. The extension and retraction ends of the first electric push rod (401) and the second electric push rod (402) are respectively connected to a first baffle (403) and a second baffle (404). By controlling the first baffle (403) and the second baffle (404) to move closer to / away from each other, the rectangular slot can be closed / opened. The flipping mechanism is located below the rectangular slot opening and closing mechanism and includes a third electric push rod (405). The third electric push rod (405) is set with one for each track where each cryopreservation tube is located. The extension and retraction end of the third electric push rod (405) is connected to a stop block (406). By controlling the stop block (406) to move from the end position of the cryopreservation tube to the middle position, the falling cryopreservation tube collides with the stop block (406) and flips itself to achieve a change in posture.

6. The automatic sorting device for medical cryopreservation tubes based on flexible vibration according to claim 5, characterized in that: The flipping device (4) also includes a multi-track ramp (407), a cylindrical pipe (408), and a partition. The multi-track ramp (407) is located below the flipping mechanism and has multiple slope tracks corresponding to the rectangular slots to transport the frozen tubes that have fallen and been adjusted in attitude. The cylindrical pipe (408) is vertically arranged and includes multiple independent pipes corresponding to the multi-track ramp (407). Its inlet is connected to the outlet of the multi-track ramp (407), and the outlet is connected to the receiving device (5). The flipping mechanism and the multi-track ramp (407) are separated by partitions for each frozen tube falling track, forming multiple independent falling and flipping compartments.

7. The automatic sorting device for medical cryopreservation tubes based on flexible vibration according to claim 6, characterized in that: The storage device (5) includes a storage box (501), and storage box electric push rods (502) are provided on both sides of the storage box (501). The driving end of the storage box electric push rod (502) is connected to the storage box (501) to drive the storage box (501) to receive the cryopreservation tube falling from the cylindrical pipe (408).

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