Freezing box pipette device

Abstract

The utility model relates to sample storage technical field, concretely provides a frozen storage box pipette equipment, aims at solving the problem of low accuracy of pipetting and low scanning efficiency. For this purpose, the frozen storage box pipette equipment of the utility model includes base, pipette device and scanning device, the scanning device includes the box loading stage and scanning mechanism, and the scanning mechanism includes the scanning box, first scanning camera and second scanning camera, is provided with first scanning station and second scanning station on the scanning box, and first scanning camera and second scanning camera are arranged in first scanning station and second scanning station respectively and can carry out scanning operation to frozen storage box, the box loading stage is set up in the top of scanning box, and the first box loading station and second box loading station for carrying frozen storage box are set up on the box loading stage, and the first box loading station and second box loading station correspond with first scanning mouth and second scanning mouth respectively. The utility model discloses by adopting double scanning stations, can carry out scanning to frozen storage box simultaneously, improves scanning efficiency and pipetting accuracy.

Description

Technical Field

[0001] This utility model relates to the field of sample storage technology, specifically providing a cryopreservation box tube picking device. Background Technology

[0002] In the biomedical industry, automated ultra-low temperature equipment is needed to store biological samples for cryopreservation.

[0003] The current tube picking equipment includes a receiving and transferring device, a tube picking device, and a barcode scanning device. The receiving and transferring device first transfers the cryopreservation boxes to the barcode scanning device. Since the barcode scanning device is a single-station barcode scanning structure, the cryopreservation boxes need to be scanned one by one before the receiving and transferring device transfers the cryopreservation boxes to the tube picking device, which then performs the tube picking operation.

[0004] During this process, the scanning and tube picking operations of the cryopreservation box are performed at different locations. Due to the change in location, there will be a deviation between the obtained scanning location and the tube picking location, which will affect the accuracy of tube picking.

[0005] Moreover, the single-station barcode scanning structure requires placing the corresponding cryopreservation boxes on the barcode scanning station one by one for scanning, which involves repeated scanning operations and results in low scanning efficiency.

[0006] Accordingly, a new technical solution is needed in this field to solve the above-mentioned technical problems. Utility Model Content

[0007] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problems of low scanning efficiency and low accuracy of existing tube picking equipment.

[0008] This utility model provides a cryopreservation box tube-picking device, which includes a base, a tube-picking mechanism, and a barcode scanning device. The barcode scanning mechanism includes a box-carrying platform and a barcode scanning mechanism, which includes a barcode scanning box, a first barcode scanning camera, and a second barcode scanning camera. The barcode scanning box is mounted on the base and has a first barcode scanning station and a second barcode scanning station. The first barcode scanning camera is located at the first barcode scanning station and can scan the cryopreservation box, and the second barcode scanning camera is located at the second barcode scanning station and can scan the cryopreservation box. The box-carrying platform is located above the barcode scanning box and has a first box-carrying station and a second box-carrying station for carrying the cryopreservation box. The first box-carrying station corresponds to the first barcode scanning station, and the second box-carrying station corresponds to the second barcode scanning station. The tube-picking device is mounted on the base and is configured to pick tubes between the cryopreservation boxes at the first box-carrying station and the second box-carrying station.

[0009] By adopting the above technical solution, the barcode scanning device of this utility model, through the use of dual barcode scanning stations, can simultaneously scan both the cryopreservation box to be picked and the cryopreservation box to be received. Compared with the existing single-station barcode scanning structure, it eliminates the need for repeated scanning during tube picking, thus improving scanning efficiency. Moreover, since both the barcode scanning and tube picking operations are performed in the same location, there is no issue of positioning deviation due to changes in location, thereby improving tube picking accuracy.

[0010] In a specific embodiment of the cryopreservation box tube-picking device described above, a first scanning port and a second scanning port are arranged side by side on the top of the barcode box. The first scanning camera and the second scanning camera are respectively located inside the barcode box and facing upwards. The first scanning camera can scan the bottom of the cryopreservation box through the first scanning port, and the second scanning camera can scan the bottom of the cryopreservation box through the second scanning port. And / or the barcode scanning mechanism also includes a third scanning camera, which is installed on the side of the barcode box and can scan the side wall of the cryopreservation box.

[0011] In a specific embodiment of the cryopreservation box picking device described above, the barcode scanning device further includes a first moving mechanism installed on the base. The first moving mechanism is connected to the box carrier platform. The first moving mechanism is configured to drive the box carrier platform to move in the horizontal direction, thereby moving the cryopreservation box on the first box carrier station to the first barcode scanning port and the cryopreservation box on the second box carrier station to the second barcode scanning port.

[0012] In a specific embodiment of the cryopreservation box tube picking device described above, the first moving mechanism includes a first driving component, a transmission component, a lead screw, a mounting base, a connecting base, and a first connecting plate. The first driving component is fixedly mounted on the base. The driving end of the first driving component is connected to the first end of the transmission component. The second end of the transmission component is connected to the lead screw. The lead screw is rotatably mounted on the mounting base. The mounting base is fixedly mounted on the base. The connecting base is threadedly connected to the lead screw and connected to the box carrier platform through the first connecting plate.

[0013] By adopting the above technical solution, the inclusion of a first moving mechanism integrates scanning and transmission into one unit, simplifying the structure and reducing the footprint. Furthermore, the first moving mechanism employs a lead screw transmission structure, improving transmission stability.

[0014] In a specific embodiment of the cryopreservation box tube picking device described above, the barcode scanning device further includes a first guide mechanism, a second guide mechanism, and a second connecting plate. The first guide mechanism and the second guide mechanism are located on the left and right sides of the barcode scanning box, respectively. The first guide mechanism is connected to the connecting seat, and the second guide mechanism is connected to the box carrier platform through the second connecting plate.

[0015] When the above technical solution is adopted, the arrangement of the first guide mechanism and the second guide mechanism can ensure stable transmission when the moving mechanism drives the carrier stage to move in the horizontal direction.

[0016] In a specific embodiment of the cryopreservation box picking device described above, the barcode scanning device further includes a box pushing mechanism installed on the base. The box pushing mechanism is located on one side of the barcode scanning box and is configured to push the cryopreservation boxes on the first box-carrying station and the second box-carrying station.

[0017] With the above technical solution, the box-pushing mechanism can position the cryopreservation box, improving the accuracy of subsequent tube picking.

[0018] In a specific embodiment of the cryopreservation box tube picking device described above, the tube picking device includes a second moving mechanism and a tube picking clamp. The second moving mechanism is connected to the tube picking clamp. The second moving mechanism is configured to drive the tube picking clamp to move, thereby enabling the tube picking clamp to transfer between the cryopreservation boxes at the first box-carrying station and the second box-carrying station. The tube picking clamp is configured to perform tube picking operations.

[0019] In a specific embodiment of the cryopreservation box tube picking device described above, the tube picking clamp includes a base, a gripper mechanism, and a tube pressing mechanism; the second moving mechanism is connected to the base, and the gripper mechanism and the tube pressing mechanism are disposed on the base. The gripper mechanism is configured to grip the cryopreservation tubes in the cryopreservation box, and the tube pressing mechanism is configured to press down the cryopreservation tubes; when the gripper mechanism grips the target cryopreservation tube, the tube pressing mechanism presses down on the non-target cryopreservation tubes around the target cryopreservation tube to limit the displacement of the non-target cryopreservation tubes.

[0020] When the above technical solution is adopted, the gripper mechanism of this utility model can press down the non-target cryopreservation tubes around the target cryopreservation tube when gripping the target cryopreservation tube, so as to limit the displacement of the non-target cryopreservation tubes, prevent the gripper mechanism from lifting the non-target cryopreservation tubes along with the target cryopreservation tube when lifting the target cryopreservation tube, and prevent the target cryopreservation tube from touching the non-target cryopreservation tubes when placing the target cryopreservation tube, which would cause shaking and affect the normal operation of subsequent operations.

[0021] In a specific embodiment of the cryopreservation box tube picking device described above, the gripper mechanism includes a second driving component, a turntable, and multiple gripper assemblies; the driving end of the second driving component is connected to the turntable, the turntable is rotatably mounted on the base, and the multiple gripper assemblies are slidably mounted on the base. A first track module is provided on the turntable, and a second track module is provided on the multiple gripper assemblies. The first track module and the second track module cooperate to enable the multiple gripper assemblies to move along a set track; the second driving component drives the turntable to rotate, thereby causing the multiple gripper assemblies to move along the set track, so that the multiple gripper assemblies move closer or further away from each other, thereby gripping or releasing the target cryopreservation tube.

[0022] With the above technical solution, the distance between the multiple gripper components of this utility model can be adjusted arbitrarily, which can be compatible with the tube picking needs of multiple specifications of cryopreservation tubes. It has a high degree of adaptability, does not require frequent replacement of gripper mechanisms, and saves equipment costs.

[0023] In a specific embodiment of the cryopreservation box tube picking device described above, the tube pressing mechanism includes multiple tube pressing assemblies. Each tube pressing assembly includes a fixed component, a movable component, and an elastic component. The fixed component is fixedly mounted on the base. The movable component is vertically slidably mounted within the fixed component. The elastic component is disposed between the fixed component and the movable component. When the movable component presses down on the cryopreservation tube, the elastic component abuts against both the fixed component and the movable component. Attached Figure Description

[0024] The preferred embodiments of this utility model are described below with reference to the accompanying drawings, in which:

[0025] Figure 1 This is a structural schematic diagram of the cryopreservation box tube-picking device of this utility model;

[0026] Figure 2 This is a schematic diagram of the barcode scanning device in the cryopreservation box tube picking device of this utility model;

[0027] Figure 3 This is a schematic diagram of the assembly structure of the first moving mechanism and the carrier platform in the barcode scanning device of this utility model.

[0028] Figure 4 This is a schematic diagram of the assembly structure of the first moving mechanism and the carrier platform in another direction in the barcode scanning device of this utility model.

[0029] Figure 5 This is a schematic diagram of the scanning mechanism in the scanning device of this utility model;

[0030] Figure 6This is a schematic diagram of the scanning mechanism in the scanning device of this utility model from another direction; (the third scanning camera is omitted).

[0031] Figure 7 This is a schematic diagram of the push box mechanism in the barcode scanning device of this utility model;

[0032] Figure 8 This is a schematic diagram of the overall structure of the tube-picking device in the cryopreservation box tube-picking equipment of this utility model;

[0033] Figure 9 This is a partial structural diagram of the second moving mechanism in the tube-picking device of this utility model;

[0034] Figure 10 This is a schematic diagram of the second partial structure of the second moving mechanism in the tube-picking device of this utility model;

[0035] Figure 11 This is a schematic diagram of the pipe-picking clamp in the pipe-picking device of this utility model;

[0036] Figure 12 This is another structural schematic diagram of the pipe-picking clamp in the pipe-picking device of this utility model; (the second driving component and connecting plate are omitted).

[0037] Figure 13 This is a schematic diagram of the assembly structure of the base and the track column in the pipe-picking clamp of this utility model;

[0038] Figure 14 This is a schematic diagram of the base structure in the pipe-picking clamp of this utility model;

[0039] Figure 15 This is another structural schematic diagram of the base in the pipe-picking clamp of this utility model;

[0040] Figure 16 This is a schematic diagram of the gripper assembly in the pipe-picking clamp of this utility model;

[0041] Figure 17 This is a schematic diagram of the pressure pipe assembly in the pipe-picking clamp of this utility model;

[0042] Figure 18 This is a schematic diagram of the target cryopreservation tube and the non-target cryopreservation tube inside the cryopreservation box of this utility model;

[0043] in:

[0044] 1. Base;

[0045] 2. Carton loading station; 21. First carton loading station; 22. Second carton loading station;

[0046] 3. Scanning mechanism; 31. Scanning box; 311. First scanning port; 312. Second scanning port; 32. First scanning camera; 33. Second scanning camera; 34. Third scanning camera; 35. Adjustment base; 351. First adjustment hole; 352. Second adjustment hole;

[0047] 4. First moving mechanism; 41. First driving component; 42. Transmission component; 421. First transmission wheel; 422. Transmission belt; 423. Second transmission wheel; 43. Lead screw; 44. Mounting base; 45. Connecting base; 46. First connecting plate;

[0048] 5. First guiding mechanism; 51. First guide rail; 52. First guide component;

[0049] 6. Second guide mechanism; 61. Second guide rail; 62. Second guide component;

[0050] 7. Second connecting plate;

[0051] 8. Box pushing mechanism; 81. Support; 82. Box pushing assembly; 821. Box pushing drive component; 822. Box pushing transmission component; 8221. Box pushing gear; 8222. Box pushing rack; 823. Push block;

[0052] 9. Pipe-picking clamp; 91. Base; 911. Sliding hole; 912. Sliding groove; 92. Gripper mechanism; 921. Second driving component; 922. Turntable; 9221. Arc-shaped track groove; 923. Gripper assembly; 9231. Slider; 92311. Sliding part; 92312. First limiting part; 92313. Second limiting part; 92314. Connecting part; 9232. Gripper arm; 92321. Fixing part; 92322. Gripping part; 92323. Bolt; 9233. Track column; 93. Pipe-pressing mechanism; 931. Fixing component; 932. Movable component; 94. Third connecting plate;

[0053] 10. Second moving mechanism; 101. First sliding plate; 102. First gear; 103. First rack; 104. First drive motor; 105. First support plate; 106. Second sliding plate; 107. Second drive motor; 108. Second gear; 109. Second rack; 1010. Third sliding plate; 1011. Second support plate; 1012. Third drive motor; 1013. Third gear; 1014. Third rack;

[0054] 11. Cryopreservation boxes;

[0055] 12. Cryopreservation tubes; 121. Target cryopreservation tubes; 122. Non-target cryopreservation tubes. Detailed Implementation

[0056] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0057] It should be noted that in the description of this utility model, terms such as "upper," "top," "horizontal," and "vertical," which indicate direction or positional relationship, are based on the direction or positional relationship shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the relevant device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, ordinal numbers such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0059] Firstly, as Figure 1 As shown, the cryopreservation box 11 tube-picking device of this utility model includes a base 1, a tube-picking device, and a barcode scanning device, which are mounted on the base 1. The barcode scanning device is used to scan the cryopreservation box 11 containing the tube to be picked and the cryopreservation box 11 to be received. The tube-picking device is used to pick the tube between the cryopreservation box 11 containing the tube to be picked and the cryopreservation box 11 to be received, that is, to transfer the cryopreservation tube 12 from one cryopreservation box 11 to another cryopreservation box 11, so as to achieve the output of a specific cryopreservation tube 12 / single tube / multiple tubes. The cryopreservation box 11 containing the target cryopreservation tube 121 is the cryopreservation box 11 that receives the target cryopreservation tube 121.

[0060] Specifically, such as Figure 1 and Figure 5 As shown, the barcode scanning device includes a box carrier 2 and a barcode scanning mechanism 3. The barcode scanning mechanism 3 includes a barcode scanning box 31, a first barcode scanning camera 32 and a second barcode scanning camera 33. The barcode scanning box 31 is mounted on the base 1 and has a first barcode scanning station and a second barcode scanning station. The first barcode scanning camera 32 is located at the first barcode scanning station and can perform barcode scanning operations on the cryopreservation box 11. The second barcode scanning camera 33 is located at the second barcode scanning station and can perform barcode scanning operations on the cryopreservation box 11.

[0061] The box carrier 2 is positioned above the barcode scanner 31. The box carrier 2 is equipped with a first box carrier station 21 and a second box carrier station 22 for carrying the frozen storage boxes 11. The first box carrier station 21 corresponds to the first barcode scanner station, and the second box carrier station 22 corresponds to the second barcode scanner station.

[0062] The tube picking device is configured to perform tube picking operations between the cryopreservation boxes 11 at the first box loading station 21 and the second box loading station 22.

[0063] During the tube picking operation, the cryopreservation box 11 to be picked is placed on the first loading station 21, and the cryopreservation box 11 to be received is placed on the second loading station 22. The first barcode scanning camera 32 and the second barcode scanning camera 33 scan the cryopreservation box 11 to obtain the position of the target cryopreservation tube 121 to be picked. Then, the tube picking device transfers the target cryopreservation tube 121 from the cryopreservation box 11 to the cryopreservation box 11 to be received, completing the tube picking operation. Of course, the cryopreservation box 11 to be picked can also be placed on the second loading station 22, and the cryopreservation box 11 to be received can also be placed on the first loading station 21. This utility model does not limit the placement position of the cryopreservation box 11 to be picked and the cryopreservation box 11 to be received.

[0064] The advantages of the above structure are that the scanning device, by employing a dual-scanning station, can simultaneously scan both the cryopreservation box 11 to be picked and the cryopreservation box 11 to be received. Compared to the existing single-station scanning structure, it eliminates the need for repeated scanning during tube picking, thus improving scanning efficiency. Furthermore, since both the scanning and tube picking operations are performed at the same location, there is no issue of positioning deviation due to changes in location, improving tube picking accuracy.

[0065] like Figure 5 and Figure 6 As shown, a first scanning port 311 and a second scanning port 312 are arranged side by side on the top of the barcode box 31. A first scanning camera 32 and a second scanning camera 33 are respectively located inside the barcode box 31 and facing upwards. The first scanning camera 32 can scan the bottom of the cryopreservation box 11 through the first scanning port 311, and the second scanning camera 33 can scan the bottom of the cryopreservation box 11 through the second scanning port 312. It should be noted that the above-mentioned positions of the scanning ports and scanning cameras are not restrictive. Those skilled in the art can adjust the positions of the scanning ports and scanning cameras on the barcode box 31 according to actual needs. For example, when the tube code is set on the top of the cryopreservation tube 12, by adjusting the positions of the scanning ports and scanning cameras on the barcode box 31, the scanning camera can scan the top of the cryopreservation box 11. All such adjustments are within the protection scope of this utility model.

[0066] In some embodiments, a first barcode scanner 32 scans the bottom of the cryopreservation box 11 to be picked to obtain a first sample image, and a second barcode scanner 33 scans the bottom of the cryopreservation box 11 to be received to obtain a second sample image. The first barcode scanner 32 and the second barcode scanner 33 respectively upload the scanned sample images to the control module. The control module can obtain first sample information based on the first sample image and second sample information based on the second sample image. Specifically, the first sample information includes the position of each cryopreservation position in the cryopreservation box 11 to be picked, the presence or absence of tubes, and the tube code of the corresponding cryopreservation tube 12. The second sample information includes the position of each cryopreservation position in the cryopreservation box 11 to be received, the presence or absence of tubes, and the tube code of the corresponding cryopreservation tube 12.

[0067] During the tube picking process, the target cryopreservation tube 121 is first obtained. The scanning device scans the cryopreservation box 11 of the tube to be picked and the cryopreservation box 11 to be received. The tube picking device transfers the target cryopreservation tube 121 from the cryopreservation box 11 of the tube to be picked to the cryopreservation box 11 to be received. The scanning device scans the cryopreservation box 11 of the tube to be picked and the cryopreservation box 11 to be received again to update the status of each cryopreservation box 11.

[0068] Continue as Figure 5 and Figure 6 As shown, the scanning mechanism 3 also includes a third scanning camera 34, which is installed on the side of the scanning box 31 and can scan the side wall of the cryopreservation box 11.

[0069] In some embodiments, the third barcode scanning camera 34 scans the side wall of the cryopreservation box 11 to be picked to obtain the box code on the side wall of the cryopreservation box 11. Specifically, the third barcode scanning camera 34 is located on the right side of the barcode scanning box 31, and it is capable of scanning the box code on the side wall of the cryopreservation box 11 on the second box-loading station 22.

[0070] Continue as Figure 5 and Figure 6 As shown, the barcode scanner 31 is also equipped with an adjustment seat 35, which is configured to adjust the installation position of the third barcode scanner 34 on the barcode scanner 31, increasing installation flexibility.

[0071] In some embodiments, the adjusting seat 35 is provided with a first adjusting hole 351 and a second adjusting hole 352. The first adjusting hole 351 and the second adjusting hole 352 are respectively configured as elongated hole structures and are used in conjunction with bolts 92323. The first adjusting hole 351 is configured to adjust the installation position of the adjusting seat 35 on the barcode scanner 31, and the second adjusting hole 352 is configured to adjust the installation position of the third barcode scanner 34 on the adjusting seat 35.

[0072] like Figure 1 and Figure 3As shown, the barcode scanning device also includes a first moving mechanism 4 installed on the base 1. The first moving mechanism 4 is connected to the box carrier 2. The first moving mechanism 4 is configured to drive the box carrier 2 to move in the horizontal direction, thereby moving the frozen box 11 on the first box carrier station 21 to the first barcode scanning port 311 and the frozen box 11 on the second box carrier station 22 to the second barcode scanning port 312.

[0073] In some embodiments, the scanning device is located in the buffer area of ​​the sample storage storage area, which also includes a storage area for storing samples. A transmission port is provided between the buffer area and the storage area. The first moving mechanism 4 can drive the tray stage 2 to move horizontally between the barcode scanner 31 and the transmission port. Specifically, the first moving mechanism 4 drives the tray stage 2 to the transmission port so that it can transfer the frozen boxes 11 between the tray stage 2 and the storage area. The first moving mechanism 4 then drives the tray stage 2 to the barcode scanner 31, so that the frozen boxes 11 on the first tray station 21 move to the first barcode scanner 311 and the frozen boxes 11 on the second tray station 22 move to the second barcode scanner 312, and then the barcode scanner camera scans the frozen boxes 11 on the tray station.

[0074] like Figure 3 As shown, the first moving mechanism 4 includes a first driving component 41 (e.g., a servo motor or stepper motor), a transmission component 42, a lead screw 43, a mounting base 44, a connecting base 45, and a first connecting plate 46. The first driving component 41 is fixedly mounted on the base 1. The transmission component 42 includes a first transmission wheel 421, a transmission belt 422, and a second transmission wheel 423. The driving end of the first driving component 41 is connected to the first transmission wheel 421, and the second transmission wheel 423 is connected to the lead screw 43. The transmission belt 422 is sleeved between the first transmission wheel 421 and the second transmission wheel 423. The lead screw 43 is rotatably mounted on the mounting base 44, which is fixedly mounted on the base 1. The connecting base 45 is threadedly connected to the lead screw 43 and connected to the carrier platform 2 via the first connecting plate 46. The first driving component 41 drives the transmission component 42 to rotate the lead screw 43, which in turn drives the carrier platform 2 to move horizontally via the first connecting plate 46.

[0075] It should be noted that, in addition to the transmission structure of "transmission wheel + transmission belt 422" described above, the transmission component 42 can also adopt the transmission structure of "sprocket + chain" or "gear + gear". Those skilled in the art can make the settings as needed, and this utility model does not impose any restrictions here.

[0076] The advantage of the above structure is that, by incorporating the first moving mechanism 4, the scanning device integrates scanning and transmission, simplifying the structure and reducing the footprint. Furthermore, the first moving mechanism 4 employs a lead screw 43 transmission structure, improving transmission stability.

[0077] like Figure 4 As shown, the barcode scanning device also includes a first guide mechanism 5, a second guide mechanism 6, and a second connecting plate 7. The first guide mechanism 5 and the second guide mechanism 6 are located on the left and right sides of the barcode scanning box 31, respectively. The first guide mechanism 5 is connected to the connecting seat 45, and the second guide mechanism 6 is connected to the carrier platform 2 through the second connecting plate 7.

[0078] In some embodiments, the first guiding mechanism 5 includes a first guide rail 51 and a first guide member 52. The first guide rail 51 is mounted on the base 1, and the first guide member 52 is slidably disposed on the first guide rail 51 and connected to the connecting seat 45. The second guiding mechanism 6 includes a second guide rail 61 and a second guide member 62. The second guide rail 61 is mounted on the base 1, and the second guide member 62 is slidably disposed on the second guide rail 61 and connected to the carrier platform 2 through the second connecting plate 7.

[0079] When the first moving mechanism 4 drives the carrier platform 2 to move horizontally, the first guide member 52 slides horizontally along the first guide rail 51, and the second guide member 62 slides horizontally along the second guide rail 61 to ensure stable transmission.

[0080] like Figure 1 , Figure 2 and Figure 7 As shown, the barcode scanning device also includes a box-pushing mechanism 8 installed on the base 1. The box-pushing mechanism 8 is located on one side of the barcode scanning box 31. The box-pushing mechanism 8 is configured to push the cryopreservation box 11 on the first box-carrying station 21 and the second box-carrying station 22 to position the cryopreservation box 11 and improve the accuracy of the subsequent tube picking position.

[0081] The box-pushing mechanism 8 includes a support 81 and a box-pushing assembly 82. Two sets of box-pushing assemblies 82 are provided, located on the sides of the first box-carrying station 21 and the second box-carrying station 22, respectively. The box-pushing assembly 82 includes a box-pushing drive component 821 (e.g., a servo motor or a stepper motor), a box-pushing transmission component 822, and a push block 823. The box-pushing drive component 821 is fixedly mounted on the support 81. The drive end of the box-pushing drive component 821 is connected to the box-pushing transmission component 822. The box-pushing transmission component 822 is mounted on the push block 823. The box-pushing drive component 821 drives the box-pushing transmission component 822, so that the push block 823 can push the cryopreservation boxes 11 on the first box-carrying station 21 and the second box-carrying station 22 respectively, so as to achieve precise positioning of the cryopreservation boxes 11 on the box-carrying platform 2.

[0082] In some embodiments, the pusher box transmission component 822 includes a pusher box gear 8221 and a pusher box rack 8222 that are meshed together. The pusher box gear 8221 is connected to the drive end of the pusher box drive component 821, and the pusher box rack 8222 is fixedly mounted on the pusher block 823. Of course, the pusher box transmission component 822 can also employ other transmission structures besides those described above, such as a lead screw 43 transmission structure, which can be configured as needed by those skilled in the art. However, considering the complexity of the structure, a gear and gear meshing structure is preferred, as it is simpler.

[0083] On the other side of the barcode scanner 31, there is also a buffer station (not shown in the figure). When multiple cryopreservation box 11 tube picking operations are required, for example, when two cryopreservation boxes 11 in the warehouse need to each pick out cryopreservation tubes 12, one of them is placed on the buffer station for temporary storage, and the other tube picking operation is carried out after the other is completed.

[0084] like Figure 1 As shown, the tube picking device includes a second moving mechanism 10 and a tube picking clamp 9. The second moving mechanism 10 is connected to the tube picking clamp 9. The second moving mechanism 10 is configured to drive the tube picking clamp 9 to move, thereby enabling the tube picking clamp 9 to transfer between the cryopreservation box 11 at the first box-carrying station 21 and the second box-carrying station 22. The tube picking clamp 9 is configured to perform tube picking operations.

[0085] like Figure 11 As shown, the tube-picking clamp 9 includes a base 91, a gripper mechanism 92, and a tube-pressing mechanism 93. The second moving mechanism 10 is connected to the base 91. The gripper mechanism 92 and the tube-pressing mechanism 93 are mounted on the base 91. The gripper mechanism 92 is configured to grip the cryopreservation tube 12 in the cryopreservation box 11, and the tube-pressing mechanism 93 is configured to press down the cryopreservation tube 12.

[0086] like Figure 18 As shown, when the gripper mechanism 92 is gripping the target cryopreservation tube 121, the tube pressing mechanism 93 can press down on the non-target cryopreservation tubes 122 around the target cryopreservation tube 121 to limit the displacement of the non-target cryopreservation tubes 122. This prevents the gripper mechanism 92 from lifting the non-target cryopreservation tubes 122 along with the target cryopreservation tube 121, and also prevents the target cryopreservation tube 121 from contacting the non-target cryopreservation tubes 122 when placing the target cryopreservation tube 121, thus avoiding shaking and affecting the normal operation of subsequent operations.

[0087] In some embodiments, such as Figure 11 and Figure 12As shown, the gripper mechanism 92 includes a second drive component 921 (e.g., a servo motor or a stepper motor), a turntable 922, and multiple gripper assemblies 923. The drive end of the second drive component 921 is connected to the turntable 922. The turntable 922 is rotatably mounted on the base 91. The multiple gripper assemblies 923 are horizontally slidably mounted on the base 91. A first track module is provided on the turntable 922, and a second track module is provided on the multiple gripper assemblies 923. The first track module and the second track module cooperate to enable the multiple gripper assemblies 923 to move along a set track.

[0088] When the second driving member 921 drives the turntable 922 to rotate in the forward direction, it causes multiple gripper assemblies 923 to move along the set track in the positive direction, thereby causing the multiple gripper assemblies 923 to slide horizontally on the base 91, so that the multiple gripper assemblies 923 move closer to each other and thus grip the target cryopreservation tube 121. When the second driving member 921 drives the turntable 922 to rotate in the reverse direction, it causes the multiple gripper assemblies 923 to move along the set track in the opposite direction, thereby causing the multiple gripper assemblies 923 to slide horizontally on the base 91, so that the multiple gripper assemblies 923 move further apart and thus release the target cryopreservation tube 121.

[0089] The advantage of the above structure is that the distance between the multiple gripper assemblies 923 can be adjusted arbitrarily, which can be compatible with the tube picking requirements of multiple specifications of cryopreservation tubes 12. It has a high degree of adaptability and does not require frequent replacement of the gripper mechanism 92, thus saving equipment costs.

[0090] In some embodiments, such as Figure 11 As shown, four sets of multiple gripper assemblies 923 are provided, and correspondingly, four sets of first track modules and four sets of second track modules are provided. The four sets of first track modules are distributed circumferentially along the center of the turntable 922, and the four sets of gripper assemblies 923 are distributed circumferentially along the center of the base 91. The first track module is an arc-shaped track groove 9221, specifically extending from the center of the turntable 922 to the edge. The second track module is a track post 9233, which can slide along the trajectory of the arc-shaped track groove 9221.

[0091] It should be noted that the number of gripper assemblies 923, the first track module, and the second track module described above can also be two, three, or five sets, which can be set according to actual needs by those skilled in the art. In this embodiment, to ensure that the gripper assembly 923 can grip the cryopreservation tube 12 more securely, it is preferably set to four sets.

[0092] In some embodiments, such as Figures 13-16As shown, the gripper assembly 923 includes a slider 9231 and a gripper arm 9232. The base 91 is provided with a sliding groove 912 and a sliding hole 911 that are connected to each other. The sliding hole 911 is located at the top of the base 91, and the sliding groove 912 is located at the bottom of the base 91. The sliding groove 912 and the sliding hole 911 are both linear structures. There are four sets of sliding holes 911 and sliding grooves 912, which are arranged along the center circumference of the base 91. The sliding groove 912 is provided through the base 91. The track post 9233 is fixed to the slider 9231 and is horizontally slidable in the sliding hole 911. The slider 9231 is horizontally slidable on the sliding groove 912 and can partially slide out of the sliding groove 912. The gripper arm 9232 is fixed to the slider 9231. Because the track groove is an arc-shaped structure and the slide groove 912 and the slide hole 911 are straight structures, when the driving component drives the turntable 922 to rotate, the arc-shaped track groove 9221 slides relative to the track column 9233, and at the same time, it can drive the track column 9233 to slide horizontally relative to the slide hole 911, thereby driving the slider 9231 to slide horizontally in the slide groove 912, and thus realizing the horizontal sliding of the clamping arm 9232 in the base 91.

[0093] In some embodiments, such as Figure 16 As shown, the slider 9231 includes a sliding part 92311 and a connecting part 92314 connected to each other. The track post 9233 is fixedly disposed on the top of the sliding part 92311. The sliding part 92311 is slidably disposed in the slide groove 912. A first limiting part 92312 and a second limiting part 92313 are provided on both sides of the sliding part 92311. The first limiting part 92312 can contact the upper end surface inside the slide groove 912. The second limiting part 92313 is disposed on the lower end surface inside the slide groove 912, which can limit the vertical displacement of the slider 9231. At the same time, under the action of the track post 9233, the arc-shaped track groove 9221 and the sliding hole 911, the slider 9231 can limit the horizontal displacement of the slider 9231, preventing the slider 9231 from sliding out of the slide groove 912.

[0094] The clamping arm 9232 includes a fixing part 92321 and a clamping part 92322 connected to each other. The fixing part 92321 is connected to the connecting part 92314 by bolts 92323. The clamping part 92322 is provided with friction texture, which can increase the friction between the clamping part and the cryopreservation tube 12 when clamping it, ensuring clamping stability and preventing slippage during the transfer process.

[0095] In some embodiments, such as Figure 11 As shown, the tube pressing mechanism 93 includes multiple tube pressing assemblies, and four sets of tube pressing assemblies are arranged. The four sets of tube pressing assemblies are distributed circumferentially along the center of the base 91 and are alternately arranged with four sets of gripper assemblies 923.

[0096] It should be noted that the number of compression tube assemblies described above can also be two, three, or five sets, and those skilled in the art can set them according to actual needs. In this embodiment, in order to fully take into account the non-target cryopreservation tubes 122 surrounding the target cryopreservation tube 121, it is preferably set to four sets.

[0097] In some embodiments, such as Figure 17 As shown, the pressure tube assembly includes a fixed member 931, a movable member 932, and an elastic member (not shown in the figure). The fixed member 931 is fixedly mounted on the base 91, the movable member 932 is vertically slidable within the fixed member 931, and the elastic member is disposed between the fixed member 931 and the movable member 932. Exemplarily, the fixed member 931 and the movable member 932 are respectively configured as cylindrical structures, and the elastic member is configured as a spring.

[0098] When the pressing mechanism 93 presses down on the cryopreservation tube 12, multiple pressing assemblies press down on the non-target cryopreservation tubes 122 surrounding the target cryopreservation tube 121. Each pressing assembly corresponds one-to-one with a cryopreservation tube 12. At this time, the movable member 932 slides vertically relative to the fixed member 931 towards the base 91, and the elastic member is compressed, causing the movable member 932 to abut against the top end of the cryopreservation tube 12. When the pressing mechanism 93 moves away from the cryopreservation tube 12, the movable member 932 is pushed out and reset under the action of the elastic member.

[0099] In some embodiments, such as Figures 8-10 As shown, the second moving mechanism 10 includes a first sliding plate 101, a second sliding plate 106, a third sliding plate 1010, a first support plate 105, a second support plate 1011, a first drive motor 104, a second drive motor 107, a third drive motor 1012, a first gear and rack transmission assembly, a second gear and rack transmission assembly, and a third gear and rack transmission assembly.

[0100] The first gear and rack transmission assembly includes a first gear 102 and a first rack 103. The first rack 103 is fixedly mounted on the base 1. The first gear 102 is rotatably mounted on the bottom of the first slide plate 101. The first slide plate 101 is slidably mounted on the base 1. The first drive motor 104 is fixedly mounted on the first slide plate 101. The drive end of the first drive motor 104 is connected to the first gear 102. The first gear 102 is meshed with the first rack 103 to drive the first slide plate 101 to move horizontally in the X direction.

[0101] The second gear and rack transmission assembly includes a second gear 108 and a second rack 109. The second rack 109 is fixedly mounted on the second slide plate 106. The second gear 108 is rotatably mounted on the first support plate 105. The first support plate 105 is vertically mounted on the first slide plate 101. The second drive motor 107 is fixedly mounted on the first support plate 105. The second slide plate 106 is slidably mounted on the first support plate 105. The drive end of the second drive motor 107 is connected to the second gear 108. The second gear 108 meshes with the second rack 109 to drive the second slide plate 106 to move vertically along the Z direction.

[0102] The third gear and rack transmission assembly includes a third gear 1013 and a third rack 1014. The third rack 1014 is fixedly mounted on the second support plate 1011, and the third gear 1013 is rotatably mounted on the third slide plate 1010. The second support plate 1011 is horizontally mounted on the second slide plate 106, and the third slide plate 1010 is slidably mounted on the second support plate 1011. The third drive motor 1012 is fixedly mounted on the third slide plate 1010, and the drive end of the third drive motor 1012 is connected to the third gear 1013. The third gear 1013 is meshed with the third rack 1014 to drive the third slide plate 1010 to move horizontally in the Y direction.

[0103] The base 91 is connected to the third slide plate 1010 via the third connecting plate 94, and the second driving component 921 is fixedly mounted on the third connecting plate 94.

[0104] In the above structure, the second moving mechanism 10 can drive the pipe-picking clamp 9 to move forward, backward, left, right, up, and down within the storage container, so that the pipe-picking clamp 9 can perform pipe-picking operations.

[0105] When performing the tube picking operation, the second moving mechanism 10 first drives the tube picking clamp 9 to move directly above the target cryopreservation tube 121. At this time, the four sets of gripper assemblies 923 are respectively located directly above the four sides of the target cryopreservation tube 121, and the four sets of tube pressing assemblies are respectively located directly above the top of the non-target cryopreservation tubes 122 adjacent to the target cryopreservation tube 121. Then, the tube picking clamp 9 is driven to move downward. As the tube picking clamp 9 gradually descends, each set of tube pressing assemblies gradually presses down on the non-target cryopreservation tubes 122. The four sets of gripper assemblies 923 are located around the target cryopreservation tube 121. After reaching the set position, the second driving component 921 drives the turntable 922 to rotate, causing the gripper assemblies 923 to move towards the target cryopreservation tube 121 and clamp the target cryopreservation tube 121.

[0106] Subsequently, the second moving mechanism 10 drives the tube-picking clamp 9 to move upward, lifting the target cryopreservation tube 121 upward. During the upward lifting process, the tube-pressing assembly and the non-target cryopreservation tube 122 are always in contact with each other to prevent them from being lifted up, until the target cryopreservation tube 121 is completely lifted up and the tube-pressing assembly separates from the non-target cryopreservation tube 122.

[0107] Finally, the second moving mechanism 10 drives the tube-picking clamp 9 to move, placing the target cryopreservation tube 121 into the target cryopreservation position.

[0108] The technical solution of this utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

Claims

1. A cryopreservation box tube-picking device, characterized in that, The cryopreservation box tube picking device includes a base (1), a tube picking device, and a barcode scanning device; The scanning device includes a box carrier (2) and a scanning mechanism (3). The scanning mechanism (3) includes a scanning box (31), a first scanning camera (32), and a second scanning camera (33). The scanning box (31) is installed on the base (1). The scanning box (31) is provided with a first scanning station and a second scanning station. The first scanning camera (32) is set at the first scanning station and can perform scanning operations on the cryopreservation box (11). The second scanning camera (33) is set at the second scanning station and can perform scanning operations on the cryopreservation box (11). The box carrier platform (2) is located above the barcode scanner (31). The box carrier platform (2) is provided with a first box carrier station (21) and a second box carrier station (22) for carrying the cryopreservation box (11). The first box carrier station (21) corresponds to the first barcode scanner station, and the second box carrier station (22) corresponds to the second barcode scanner station. The tube picking device is installed on the base (1) and is configured to perform tube picking operations between the cryopreservation box (11) at the first box loading station (21) and the second box loading station (22).

2. The cryopreservation box tube-picking device according to claim 1, characterized in that, The top of the barcode box (31) is provided with a first barcode port (311) and a second barcode port (312) arranged side by side. The first barcode camera (32) and the second barcode camera (33) are respectively located inside the barcode box (31) and facing upwards. The first barcode camera (32) can scan the bottom of the cryopreservation box (11) through the first barcode port (311), and the second barcode camera (33) can scan the bottom of the cryopreservation box (11) through the second barcode port (312); and / or The scanning mechanism (3) also includes a third scanning camera (34), which is installed on the side of the scanning box (31) and can scan the side wall of the cryopreservation box (11).

3. The cryopreservation box tube-picking device according to claim 2, characterized in that, The scanning device also includes a first moving mechanism (4) installed on the base (1). The first moving mechanism (4) is connected to the box carrier (2). The first moving mechanism (4) is configured to drive the box carrier (2) to move in the horizontal direction, thereby moving the cryopreservation box (11) on the first box carrier station (21) to the first scanning port (311) and the cryopreservation box (11) on the second box carrier station (22) to the second scanning port (312).

4. The cryopreservation box tube-picking device according to claim 3, characterized in that, The first moving mechanism (4) includes a first driving component (41), a transmission component (42), a lead screw (43), a mounting base (44), a connecting base (45), and a first connecting plate (46). The first driving component (41) is fixedly mounted on the base (1). The driving end of the first driving component (41) is connected to the first end of the transmission component (42). The second end of the transmission component (42) is connected to the lead screw (43). The lead screw (43) is rotatably mounted on the mounting base (44). The mounting base (44) is fixedly mounted on the base (1). The connecting base (45) is threadedly connected to the lead screw (43) and connected to the carrier platform (2) through the first connecting plate (46).

5. The cryopreservation box tube-picking device according to claim 4, characterized in that, The scanning device also includes a first guide mechanism (5), a second guide mechanism (6), and a second connecting plate (7). The first guide mechanism (5) and the second guide mechanism (6) are located on the left and right sides of the scanning box (31), respectively. The first guide mechanism (5) is connected to the connecting seat (45), and the second guide mechanism (6) is connected to the carrier platform (2) through the second connecting plate (7).

6. The cryopreservation box tube-picking device according to claim 1, characterized in that, The scanning device also includes a box-pushing mechanism (8) installed on the base (1). The box-pushing mechanism (8) is located on one side of the scanning box (31). The box-pushing mechanism (8) is configured to push the cryopreservation box (11) on the first box-carrying station (21) and the second box-carrying station (22).

7. The cryopreservation box tube-picking device according to claim 1, characterized in that, The tube picking device includes a second moving mechanism (10) and a tube picking clamp (9). The second moving mechanism (10) is connected to the tube picking clamp (9). The second moving mechanism (10) is configured to drive the tube picking clamp (9) to move, thereby enabling the tube picking clamp (9) to transfer between the cryopreservation box (11) at the first box-carrying station (21) and the second box-carrying station (22). The tube picking clamp (9) is configured to perform tube picking operations.

8. The cryopreservation box tube-picking device according to claim 7, characterized in that, The pipe-picking clamp (9) includes a base (91), a gripper mechanism (92), and a pipe-pressing mechanism (93); The second moving mechanism (10) is connected to the base (91), the gripper mechanism (92) and the tube pressing mechanism (93) are disposed on the base (91), the gripper mechanism (92) is configured to grip the cryopreservation tube (12) in the cryopreservation box (11), and the tube pressing mechanism (93) is configured to press down the cryopreservation tube (12). When the gripper mechanism (92) grips the target cryopreservation tube (121), the tube pressing mechanism (93) presses down on the non-target cryopreservation tubes (122) around the target cryopreservation tube (121) to limit the displacement of the non-target cryopreservation tubes (122).

9. The cryopreservation box tube-picking device according to claim 8, characterized in that, The gripper mechanism (92) includes a second drive member (921), a turntable (922), and multiple gripper assemblies (923). The driving end of the second driving member (921) is connected to the turntable (922). The turntable (922) is rotatably mounted on the base (91). A plurality of gripper assemblies (923) are slidably mounted on the base (91). A first track module is provided on the turntable (922), and a second track module is provided on the plurality of gripper assemblies (923). The first track module and the second track module cooperate to enable the plurality of gripper assemblies (923) to move along a set track. The second driving member (921) drives the turntable (922) to rotate, thereby causing the multiple gripper assemblies (923) to move along a set track, so that the multiple gripper assemblies (923) move closer or further away from each other, thereby gripping or releasing the target cryopreservation tube (121).

10. The cryopreservation box tube-picking device according to claim 8, characterized in that, The tube pressing mechanism (93) includes multiple tube pressing assemblies. Each tube pressing assembly includes a fixed member (931), a movable member (932), and an elastic member. The fixed member (931) is fixedly mounted on the base (91). The movable member (932) is vertically slidably mounted inside the fixed member (931). The elastic member is mounted between the fixed member (931) and the movable member (932). When the movable member (932) presses down on the cryopreservation tube (12), the elastic member abuts against the fixed member (931) and the movable member (932) respectively.

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