Cryobox gripper

Abstract

The utility model provides a freezing box clamp jaw, including base plate, two drive arms that can move in horizontal direction synchronously reversely are oppositely arranged on base plate, the opposite end of two drive arms is provided with the grab arm parallel with freezing box side wall, and the grab space for freezing box holding is formed between two grab arms, the grab surface of grab arm has the grab groove that can hold freezing box side wall, through the mode that drives two drive arms to move in horizontal direction synchronously reversely, force two grab arms' grab groove to press -bond fixed on freezing box's corresponding two side walls respectively. The utility model discloses a freezing box clamp jaw, can be in single refrigerator to freezing box of the transfer area from opposite two directions fast grab transfer to predetermined area, has the advantages such as stable grab, strong adaptability and flexible operation.

Description

Technical Field

[0001] This utility model relates to the field of ultra-low temperature equipment technology, specifically to cryopreservation box grippers. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] In the field of automated single-unit freezers, cryopreservation box grippers are the core actuators for automated storage and retrieval of biological samples. Their gripping stability, adaptability, and operational efficiency directly determine the accuracy of sample storage and retrieval and the reliability of equipment operation, which is crucial for ensuring the viability of biological samples. With the surge in sample storage volume and the diversification of cryopreservation box specifications, the performance requirements for grippers are becoming increasingly stringent.

[0004] Currently, the grippers used in automated single-unit freezers have significant drawbacks: First, most grippers have complex structures and use a unidirectional gripping method, resulting in poor gripping stability. In low-temperature environments, the rigidity of components decreases or friction weakens, causing the freezers to slip and damage the samples. Second, they have low compatibility; traditional grippers are mostly designed with fixed dimensions, making it difficult to accommodate freezers of different heights and widths, requiring frequent gripper replacements and significantly reducing storage and retrieval efficiency. In summary, existing freezer grippers can no longer meet the needs of automated single-unit freezers for efficient, stable, and multi-size compatibility storage and retrieval.

[0005] Therefore, developing a cryopreservation box gripper that is stable, adaptable, and flexible in operation has become an urgent technical problem to be solved in the field of automated single-unit refrigerators, which is of great significance for promoting the automation upgrade of equipment and ensuring the safety of sample storage. Utility Model Content

[0006] The main purpose of this invention is to provide grippers for cryopreservation boxes.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows: a cryopreservation box gripper includes a base plate, on which two drive arms capable of synchronously moving in opposite directions in the horizontal direction are arranged opposite each other. Each of the two drive arms has a gripping arm parallel to the side wall of the cryopreservation box at its disjoint end, and a gripping space for gripping and fixing the cryopreservation box is formed between the two gripping arms. The gripping surface of the gripping arm has a gripping groove capable of accommodating the side wall of the cryopreservation box. By driving the two drive arms to move synchronously in opposite directions in the horizontal direction, the gripping grooves of the two gripping arms are forced to fit and press and fix themselves to the corresponding two side walls of the cryopreservation box.

[0008] Furthermore, the vertical height of the gripping groove is greater than the height of the side of the cryopreservation box.

[0009] Furthermore, an anti-slip layer is provided inside the gripping groove.

[0010] Furthermore, the top of the base plate is provided with a slide rail parallel to the moving direction of the drive arm, and two sliding blocks that cooperate with it are arranged opposite each other on the slide rail, with the bottom of the two drive arms respectively fixed to the top of the two sliding blocks.

[0011] Furthermore, each of the two drive arms is equipped with a rack parallel to the slide rail at its top, and the two racks are symmetrical about the center of the slide rail. A gear that rotatably engages with the racks is provided between them.

[0012] Furthermore, a support plate is provided on the top of the substrate, a fixed plate is provided on the top of the support plate, a drive motor is installed on the top of the fixed plate, the output shaft of the drive motor passes through the bottom of the fixed plate and is connected to a transmission shaft, and the bottom of the transmission shaft is fixed at the center of the gear.

[0013] The beneficial effects of this utility model are reflected in: The cryopreservation box gripper of this utility model can quickly grab and transfer cryopreservation boxes in the transfer area from two opposite directions to a predetermined area in a single refrigerator. It has the advantages of stable gripping, strong adaptability and flexible operation. Attached Figure Description

[0014] In the attached diagram: Figure 1 This is a three-dimensional structural diagram of the present invention when it grasps the cryopreservation box as a whole; Figure 2 for Figure 1 A partial structural diagram of the gripper of the cryopreservation box, excluding the cryopreservation box, drive motor, and fixed plate; Figure 3 for Figure 1 A schematic diagram of the rack, gear, and drive arm on the middle base plate; Figure 4 for Figure 1 A schematic diagram of the slide rail and slide block on the middle base plate.

[0015] Explanation of reference numerals in the attached figures: 1. Base plate; 2. Drive arm; 3. Gripper arm; 4. Gripper groove; 5. Slide rail; 6. Slide block; 7. Rack; 8. Gear; 9. Drive shaft; 10. Fixed plate; 11. Support plate; 12. Drive motor; 100. Cryopreservation box. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the utility model, and not all of them. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the utility model without creative effort are within the scope of protection of the utility model.

[0017] Please combine Figures 1 to 4 .

[0018] The cryopreservation box gripper includes a base plate 1. Two drive arms 2 that can move synchronously in opposite directions in the horizontal direction are arranged oppositely on the base plate 1. Each of the two drive arms 2 has a gripping arm 3 that is parallel to the side wall of the cryopreservation box 100 at its disjoint end. A gripping space for gripping and fixing the cryopreservation box 100 is formed between the two gripping arms 3. The gripping surface of the gripping arm 3 has a gripping groove 4 that can accommodate the side wall of the cryopreservation box 100. By driving the two drive arms 2 to move synchronously in opposite directions in the horizontal direction, the gripping grooves 4 of the two gripping arms 3 are forced to fit and press and fix to the corresponding two side walls of the cryopreservation box 100.

[0019] In practice, when the cryopreservation box 100 enters the transfer area and is waiting to be transferred and is located between the two gripping arms 3, the two drive arms 2 are driven to move synchronously in opposite directions in the horizontal direction, so that the two gripping arms 3 move closer to the two side walls of the cryopreservation box 100 respectively, forcing the gripping grooves 4 of the two gripping arms 3 to press and fix on the corresponding two side walls of the cryopreservation box 100 respectively, so as to pick up the cryopreservation box 100 in the transfer area and transfer it to the predetermined area.

[0020] The advantage of this design is that the cryopreservation boxes 100 in the transfer area can be quickly grabbed and transferred to the predetermined area from two opposite directions in a single refrigerator. It has the advantages of stable grabbing, strong adaptability and flexible operation.

[0021] In one embodiment, the vertical height of the gripping groove 4 is greater than the side height of the cryopreservation box 100.

[0022] Thus, the gripping slot 4 can be adapted to cryopreservation boxes 100 with different vertical heights (thicknesses), and the two drive arms 2 can move synchronously in opposite directions in the horizontal direction, which can be adapted to grip cryopreservation boxes 100 with different widths or lengths.

[0023] In one embodiment, the gripping groove 4 is provided with an anti-slip layer, which may be a cowhide layer.

[0024] This increases the static friction between the gripping groove 4 and the side wall of the cryopreservation box 100, making the gripping arm 3 hold the cryopreservation box 100 more stably and preventing the cryopreservation box 100 from accidentally falling and being damaged.

[0025] In one embodiment, the top of the substrate 1 is provided with a slide rail 5 parallel to the moving direction of the drive arm 2, and two sliding blocks 6 are arranged opposite to each other on the slide rail 5, with the bottoms of the two drive arms 2 respectively fixed to the top of the two sliding blocks 6.

[0026] Thus, the horizontal movement of the drive arm 2 on the substrate 1 can be achieved through the slide rail 5 and the slide block 6.

[0027] In one embodiment, each of the two drive arms 2 is provided with a rack 7 parallel to the slide rail 5 at its top, and the two racks 7 are symmetrical about the center of the slide rail 5. A gear 8 is rotatably provided between the two racks 7 to cooperate with them.

[0028] Thus, the gear 8 can drive the two racks 7 to move synchronously in opposite directions in the horizontal direction, and under the limiting action of the slide rail 5 and the slide block 6, the two drive arms 2 can move synchronously in opposite directions in the horizontal direction.

[0029] In one embodiment, a support plate 11 is provided on the top of the substrate 1, a fixed plate 10 is provided on the top of the support plate 11, and a drive motor 12 is mounted on the top of the fixed plate 10. The drive motor 12 is a stepper motor that can rotate bidirectionally. The output shaft of the drive motor 12 passes through the bottom of the fixed plate 10 and is connected to a transmission shaft 9. The bottom of the transmission shaft 9 is fixed at the center of the gear 8.

[0030] Thus, the output shaft of the drive motor 12 drives the transmission shaft 9 to rotate, thereby driving the rotation of the gear 8.

[0031] In addition, this application may install a laser sensor on the top of the fixed plate 10 to continuously emit laser recognition signals between the gripping arms 3 to identify the presence of the cryopreservation box 100. When the cryopreservation box 100 moves between the two gripping arms 3, the laser sensor identifies the cryopreservation box 100 and feeds back to the central control equipment in the automated single-unit refrigerator. The central control equipment then controls the drive motor 12 to operate and perform a gripping operation on the cryopreservation box 100. Since the laser sensor and the central control equipment are existing technologies, this application will not elaborate on them further.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0033] It should be noted that if the utility model embodiment involves directional indicators (such as up and down), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, if the utility model embodiments involve descriptions of "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" can explicitly or implicitly include at least one of those features. Furthermore, "multiple" refers to two or more. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the utility model.

Claims

1. A cryobox gripper, characterized in that The system includes a substrate (1), on which two drive arms (2) capable of moving synchronously in opposite directions in the horizontal direction are arranged opposite each other. Each of the two drive arms (2) has a gripping arm (3) parallel to the side wall of the cryopreservation box (100) at its disjoint end. A gripping space for gripping and fixing the cryopreservation box (100) is formed between the two gripping arms (3). The gripping surface of the gripping arm (3) has a gripping groove (4) capable of accommodating the side wall of the cryopreservation box (100). By driving the two drive arms (2) to move synchronously in opposite directions in the horizontal direction, the gripping grooves (4) of the two gripping arms (3) are forced to be adapted and pressed and fixed on the corresponding two side walls of the cryopreservation box (100).

2. The cryobox gripper of claim 1, wherein, The vertical height of the gripping groove (4) is greater than the side height of the cryopreservation box (100).

3. The cryobox gripper of claim 1, wherein, The gripping groove (4) is provided with an anti-slip layer.

4. The cryobox gripper of claim 1, wherein, The top of the substrate (1) is provided with a slide rail (5) parallel to the moving direction of the drive arm (2). Two sliding blocks (6) are arranged opposite to each other on the slide rail (5). The bottoms of the two drive arms (2) are respectively fixed to the tops of the two sliding blocks (6).

5. The cryobox gripper of claim 4, wherein, Both drive arms (2) are provided with racks (7) parallel to the slide rail (5) at their tops, and the two racks (7) are symmetrical about the center of the slide rail (5). A gear (8) is rotatably provided between the two racks (7) to cooperate with them.

6. The cryobox gripper of claim 5, wherein, The base plate (1) is provided with a support plate (11) on the top, and a fixed plate (10) is provided on the top of the support plate (11). A drive motor (12) is installed on the top of the fixed plate (10). The output shaft of the drive motor (12) passes through the bottom of the fixed plate (10) and is connected to a transmission shaft (9). The bottom of the transmission shaft (9) is fixed at the center of the gear (8).

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