Biological sample placement device

Abstract

A biological sample placing device comprises a tray, the tray defines a first placing position and a second placing position with an upper opening, the first placing position is used for placing a first cryogenic box, the second placing position is used for placing a second cryogenic box, the first cryogenic box defines a plurality of first placing holes for placing cryogenic tubes, the second cryogenic box defines a plurality of second placing holes for placing cryogenic tubes, the first placing holes and the second placing holes each have a top opening; and a 3D camera, the 3D camera is fixed above the tray or movably arranged above the tray, the 3D camera has a first position state, at least one of the first cryogenic box and the second cryogenic box is located within the field of view of the 3D camera when the 3D camera is in the first position state, and the 3D camera comprises a downward lens. The cold quantity of the cryogenic box is not easy to affect the lens of the 3D camera, and the risk of icing and frosting of the lens is reduced.

Description

Technical Field

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

[0002] With the rapid development of the biopharmaceutical industry and the rise of large-scale biobanks, the storage capacity of biological samples is increasing. Generally, biological samples such as tissues and cells from clinical or laboratory settings are stored in cryovials. These cryovials are then placed inside cryovial boxes for storage.

[0003] When transferring cryopreservation tubes between different cryopreservation boxes, the transfer can be done manually by picking up the cryopreservation tubes, or it can be done automatically by some automated machines.

[0004] To verify the selection results, related technologies use cameras to identify cryopreservation boxes. However, in these technologies, the camera is located at the bottom of the cryopreservation box, which is stored in a low-temperature environment and has a certain amount of cold air. Due to the principle that cold air naturally sinks, when the camera is located at the bottom of the cryopreservation box, the lens is more susceptible to the effects of cold air, such as freezing and frost. Utility Model Content

[0005] In view of the above problems, this application is made in order to provide a biological sample placement device that overcomes or at least partially solves the above problems.

[0006] This application provides a biological sample placement device, comprising: a tray defining a first placement position and a second placement position with an upper opening, the first placement position for placing a first cryopreservation box, the second placement position for placing a second cryopreservation box, the first cryopreservation box defining a plurality of first placement holes for placing cryopreservation tubes, the second cryopreservation box defining a plurality of second placement holes for placing cryopreservation tubes, both the first placement holes and the second placement holes having a top opening; and a 3D camera, the 3D camera being fixed above the tray or movably disposed above the tray, the 3D camera having a first position state, wherein when the 3D camera is in the first position state, at least one of the first cryopreservation box and the second cryopreservation box is within the field of view of the 3D camera, the 3D camera including a downward-facing lens.

[0007] Optionally, the biological sample placement device further includes: a main plate having a main hole, wherein the tray and the projection portion of the main hole on the horizontal plane coincide; a connecting plate having the upper end connected to the main plate and the lower end connected to the tray; and when the 3D camera is in the first position state, the projection portion of the 3D camera and the main hole on the horizontal plane coincide.

[0008] Optionally, the area of ​​the main hole in the horizontal plane is greater than the sum of the areas of the first cryopreservation box and the second cryopreservation box in the horizontal plane.

[0009] Optionally, the biological sample placement device further includes: a first drive motor, the first drive motor being fixed to the main body plate; a first lead screw, the first lead screw being connected to the output shaft of the first drive motor and extending along a first direction; a first lead screw nut, the first lead screw nut being slidably mounted on the first lead screw and connected to the 3D camera; and the first drive motor being used to drive the first lead screw to rotate, the rotation of the first lead screw realizing the sliding of the first lead screw nut on the first lead screw.

[0010] Optionally, the biological sample placement device further includes: a first mounting plate, the first mounting plate being fixedly connected to the first lead screw nut; a second drive motor, the second drive motor being fixed to the first mounting plate; a second lead screw, the second lead screw being connected to the output shaft of the second drive motor, the second lead screw extending along a second direction; a second lead screw nut, the second lead screw nut being slidably mounted on the second lead screw; a second mounting plate, a portion of the second mounting plate being fixedly connected to the second lead screw nut, and another portion of the second mounting plate being fixedly connected to the 3D camera; and the second drive motor is used to drive the second lead screw to rotate, the rotation of the second lead screw realizing the sliding of the second lead screw nut on the second lead screw.

[0011] Optionally, the biological sample placement device further includes: a door body, the door body including a door shell, the door shell defining a shell cavity, the shell cavity being provided with thermal insulation material, and the door body being used to open and close the main body hole.

[0012] Optionally, the biological sample placement device further includes: a cavity defining a receiving cavity having a top opening, and the tray being fixed within the receiving cavity.

[0013] Optionally, the biological sample placement device further includes a cold generation element, which is disposed within the receiving cavity or installed in the cavity, and is used to provide cold energy to the receiving cavity.

[0014] Optionally, the biological sample placement device further includes: a fixing member, a portion of which is fixedly connected to the tray, and another portion of which is used to fixally connect to the 3D camera.

[0015] Optionally, both the first placement position and the second placement position are recessed into the tray, and the biological sample placement device further includes a partition plate, which is fixed to the tray and located between the first placement position and the second placement position.

[0016] The biological sample placement device provided in this application is equipped with a 3D camera. The 3D camera is fixed above a tray or movably positioned above the tray. The 3D camera has a first position state. When the 3D camera is in the first position state, at least one of the first cryopreservation box and the second cryopreservation box is within the field of view of the 3D camera. The 3D camera includes a downward-facing lens. Therefore, the coldness of the cryopreservation box is less likely to affect the lens of the 3D camera, reducing the risk of lens icing and frosting. Attached Figure Description

[0017] Other objects and advantages of this application will become apparent from the following description of the application with reference to the accompanying drawings, and will help to provide a comprehensive understanding of the application.

[0018] Figure 1 This is a perspective view of a biological sample placement device according to some embodiments of this application; Figure 2 yes Figure 1 Side view of the structure shown; Figure 3 yes Figure 1 The front view of the structure shown; Figure 4 This is an assembly diagram of the tray, main body plate, and connecting plate of a biological sample placement device according to some embodiments of this application; Figure 5 yes Figure 4 A schematic enlarged view of region A shown.

[0019] In the diagram, 10 is the biological sample placement device, 100 is the tray, 110 is the first placement position, 120 is the second placement position, 200 is the 3D camera, 300 is the main plate, 310 is the main hole, 400 is the connecting plate, 510 is the first drive motor, 520 is the first lead screw, 530 is the first lead screw nut, 610 is the first mounting plate, 620 is the second drive motor, 630 is the second lead screw, 640 is the second lead screw nut, 650 is the second mounting plate, 700 is the door, 800 is the cavity, 900 is the partition plate, 20 is the first cryopreservation box, 30 is the second cryopreservation box, and 40 is the cryopreservation tube. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only one embodiment of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0021] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning as understood by a person of ordinary skill in the art to which this application pertains.

[0022] This embodiment provides a biological sample placement device 10. Figure 1 This is a perspective view of a biological sample placement device 10 according to some embodiments of this application. Figure 2 yes Figure 1 Side view of the structure shown. Figure 3 yes Figure 1 The front view of the structure shown. Figure 4 This is an assembly drawing of the tray 100, main body plate 300, and connecting plate 400 of the biological sample placement device 10 according to some embodiments of this application. Figure 5 yes Figure 4 A schematic enlarged view of region A shown.

[0023] The biological sample placement device 10 includes a tray 100 and a 3D camera 200. The tray 100 defines a first placement position 110 and a second placement position 120 with an opening at the top. The first placement position 110 is used to place a first cryopreservation box 20, and the second placement position 120 is used to place a second cryopreservation box 30. The first cryopreservation box 20 defines a plurality of first placement holes for placing cryopreservation tubes 40, and the second cryopreservation box 30 defines a plurality of second placement holes for placing cryopreservation tubes 40. Both the first placement holes and the second placement holes have a top opening.

[0024] A 3D camera 200 is fixed above a tray 100 or movably disposed above a tray 100. The 3D camera 200 has a first position state in which at least one of the first cryopreservation box 20 and the second cryopreservation box 30 is within the field of view of the 3D camera 200. The 3D camera 200 includes a downward-facing lens.

[0025] The biological sample placement device 10 provided in this embodiment is equipped with a 3D camera 200. The 3D camera 200 is fixed above the tray 100 or movably disposed above the tray 100. The 3D camera 200 has a first position state. When the 3D camera 200 is in the first position state, at least one of the first cryopreservation box 20 and the second cryopreservation box 30 is within the field of view of the 3D camera 200. The 3D camera 200 includes a downward-facing lens. Therefore, the coldness of the cryopreservation box is less likely to affect the lens of the 3D camera 200, reducing the risk of lens icing and frosting.

[0026] A cryopreservation box is a container specifically designed for the long-term cryogenic storage of biological samples. Cryopreservation boxes are typically made of cryogenic engineering plastics and have multiple placement holes arranged inside to hold cryopreservation tubes 40. These placement holes can be arranged in various ways, such as a matrix arrangement or a staggered arrangement.

[0027] Cryopreservation tubes 40 are small tubular containers specifically designed for long-term cryogenic storage of biological samples. A cryopreservation tube 40 consists of a body and a cap. The body defines a lumen with a top opening for holding the biological sample. The cap is used to open and close the top opening. Specifically, the cap has internal threads, and the body has external threads, allowing for a detachable connection between the body and cap via these threads. Cryopreservation tubes 40 can be made of high-quality plastics (such as polypropylene) resistant to extreme low temperatures (e.g., -196°C liquid nitrogen or -80°C), ensuring they do not become brittle or break at low temperatures. Their capacity ranges from 0.5 ml to 5 ml, suitable for storing small, precious samples. A silicone gasket can be placed between the body and cap to ensure an airtight seal.

[0028] The tray 100 defines a first placement position 110 and a second placement position 120, thereby facilitating the transfer of cryovials 40 between the first cryovial box 20 and the second cryovial box 30. Both the first and second placement holes have top openings, facilitating the transfer of cryovials 40 from above. It is understood that the transfer of cryovials 40 can be performed manually or by a transfer mechanism. For example, the transfer mechanism may include grippers, suction components, holding components, etc.

[0029] Specifically, in some embodiments, the tube transfer mechanism includes a stepper motor and a lead screw connected together. It also includes a nut that mates with the lead screw, and the nut is hinged to two gripping fingers on both sides via connecting rods. The two gripping fingers are mounted on a linear guide rail, ensuring that they can only perform parallel opening and closing movements. The inner side of the gripping fingers has a V-shaped or arc-shaped groove. When the motor rotates forward, it drives the lead screw to rotate, causing the nut to move linearly along the lead screw. This, through the connecting rods, pushes the two gripping fingers to close synchronously towards the center on the linear guide rail, clamping the cryopreservation tube 40. When the motor rotates in reverse, the nut moves in the opposite direction, causing the two gripping fingers to open synchronously through the connecting rods, releasing the cryopreservation tube 40.

[0030] In other embodiments, the tube transfer mechanism includes a DC motor connected to a worm gear. A worm wheel meshes with the worm gear. A cam or crank is fixed coaxially to the worm wheel. One end of a movable clamping arm contacts the cam, and the middle is hinged via a pivot. A fixed clamping arm is also included. The front end of the clamping arm has anti-slip grooves. When the motor rotates, it drives the worm gear to rotate the worm wheel and the cam. The cam pushes one end of the movable clamping arm, causing its other end (clamping end) to rotate around the hinge point toward the fixed clamping arm, thereby clamping the cryopreservation tube 40. When the motor rotates in the opposite direction, the cam rotates back, and the movable clamping arm opens under the action of a return spring (optional) or the cam profile.

[0031] In some embodiments, the tube-moving mechanism includes a servo motor connected to a disc cam. The mechanism also includes two gripping fingers, the tails of which act as driven push rods, maintaining contact with the cam profile under spring pressure. The middle of the gripping fingers is hinged as a fulcrum. When the motor rotates to the cam's lift section (the raised portion), the cam profile pushes the tails of the two gripping fingers, overcoming the spring force, causing the front ends of the gripping fingers (clamping ends) to swing around the fulcrum towards the center, achieving clamping. As the motor continues to rotate to the cam's return section (the descending portion), the cam's thrust on the gripping finger tails disappears, and the gripping fingers automatically open under the action of the front-end return spring, returning to the open state.

[0032] The first placement position 110 and the second placement position 120 have openings at the top, facilitating the transfer of the first cryopreservation box 20 and the second cryopreservation box 30 from above. Understandably, the transfer of cryopreservation boxes can be performed manually or by a transfer mechanism. For example, the transfer mechanism may include grippers, suction components, holding components, etc. The transfer mechanism can be similar to a tube transfer mechanism, except that the size of the gripping parts (such as grippers) is different.

[0033] Specifically, in some embodiments, the box-moving mechanism includes a stepper motor and a lead screw connected together. It also includes a nut that mates with the lead screw, and the nut is hinged to two gripping fingers on both sides via connecting rods. The two gripping fingers are mounted on a linear guide rail, ensuring that they can only perform parallel opening and closing movements. The inner side of the gripping fingers has a V-shaped or arc-shaped groove. When the motor rotates forward, it drives the lead screw to rotate, causing the nut to move linearly along the lead screw. This, through the connecting rods, pushes the two gripping fingers to close synchronously towards the center on the linear guide rail, clamping the cryopreservation box body. When the motor rotates in reverse, the nut moves in the opposite direction, causing the two gripping fingers to open synchronously through the connecting rods, releasing the cryopreservation box.

[0034] In other embodiments, the box-moving mechanism includes a DC motor connected to a worm gear. A worm wheel meshes with the worm gear. A cam or crank is fixed coaxially to the worm wheel. One end of a movable clamping arm contacts the cam, and the middle is hinged via a pivot. A fixed clamping arm is also included. The front end of the clamping arm has anti-slip grooves. When the motor rotates, it drives the worm gear to rotate the worm wheel and the cam. The cam pushes one end of the movable clamping arm, causing its other end (clamping end) to rotate around the hinge point toward the fixed clamping arm, thereby clamping the cryopreservation box. When the motor rotates in the opposite direction, the cam rotates back, and the movable clamping arm opens under the action of a return spring (optional) or the cam profile.

[0035] In some embodiments, the transfer mechanism includes a servo motor connected to a disc cam. The transfer mechanism also includes two gripping fingers, the tails of which act as driven push rods, maintaining contact with the cam profile under spring pressure. The middle of the gripping fingers is hinged as a fulcrum. When the motor rotates to the cam's lift section (protruding portion), the cam profile pushes the tails of the two gripping fingers, overcoming the spring force, causing the front ends of the gripping fingers (clamping ends) to swing around the fulcrum towards the center, achieving clamping. As the motor continues to rotate to the cam's return section (descending portion), the cam's thrust on the gripping finger tails disappears, and the gripping fingers automatically open under the action of the front-end return spring, returning to the open state.

[0036] The 3D camera 200 (which may include a structured light camera, a binocular camera, a laser profilometer camera, etc.) is used to identify the condition of the cryopreservation tubes 40 in the first cryopreservation box 20 and the second cryopreservation box 30 (by taking a picture or scanning).

[0037] The 3D Camera 200 is an advanced machine vision sensor whose core function transcends the limitations of traditional 2D cameras, which can only capture planar images of objects. It can actively acquire three-dimensional point cloud data of target objects within its field of view. By calculating spatial depth information, it attaches distance (Z-axis) data to each pixel, thereby constructing a high-precision three-dimensional model of the observed object.

[0038] The 3D camera 200 operates on the principle of structured light. Specifically, the camera actively projects a set of encoded, specific light spot patterns (such as laser speckle or grating fringes) onto the object being measured. Due to the unevenness of the object's surface, these pre-defined patterns deform. The camera captures the deformed pattern from another angle and calculates the depth value of each pixel using triangulation. This 3D camera 200 offers high precision and resolution, making it suitable for close-up, static scenes.

[0039] The 3D camera 200 is based on the principle of binocular vision. Specifically, mimicking the human eye, it simultaneously captures the same scene using two cameras positioned a certain baseline distance. By finding the different positions (parallax) of the same feature point in the two images, it calculates the three-dimensional coordinates of that point using triangulation principles. This 3D camera 200 does not require an active light source, relying on ambient light, making it suitable for outdoor and other scenarios.

[0040] The 3D camera 200 operates on the principle of time-of-flight. Specifically, the camera emits modulated near-infrared laser pulses towards the target and receives the light reflected back from the object. By precisely calculating the time of flight or phase difference of the light pulses between the camera and the object, the distance value is directly calculated. This 3D camera 200 exhibits strong anti-interference capabilities, long measurement distance, and high frame rate.

[0041] After the transfer of cryopreservation tube 40 between the first cryopreservation box 20 and the second cryopreservation box 30, the success of the transfer can be identified by the 3D camera 200. Specifically, the 3D camera 200 is triggered to scan a designated area of ​​the second cryopreservation box 30 (target cryopreservation box) on the tray 100. This area covers the target second placement hole where the cryopreservation tube 40 should be placed and its surroundings. The camera projects an active optical pattern onto this area through its built-in projector (such as laser speckle or structured light pattern), and its sensor captures the pattern deformed by the shape of the object's surface. The camera's internal processor calculates the three-dimensional coordinates (X, Y, Z) of each pixel in the captured scene based on the principles of triangulation or time-of-flight, generating high-precision three-dimensional point cloud data. This data accurately reflects the three-dimensional topography of the surface of the second cryopreservation box 30, including the depth and internal conditions of each second placement hole. The system compares and analyzes the acquired real-time point cloud data with a pre-stored, empty reference three-dimensional model of the second cryopreservation box 30. The algorithm first performs segmentation to identify the edge contour of each second placement hole. Subsequently, a depth analysis is performed on the point cloud data within the second placement hole of the target, extracting key features, mainly including: the average height (Z value) of the point cloud within the hole: compared with the depth of an empty reference hole; the presence of a protrusion within the hole: analyzing whether the point cloud shape conforms to the cylindrical characteristics of the cryopreservation tube 40; the height of the protrusion: determining whether the height of the inserted cryopreservation tube 40 is within the normal range; and the top orientation of the cryopreservation tube 40: calculating the normal vector of the tube cap plane to determine if there is any abnormal tilt. Finally, based on the extracted features, the system automatically makes judgments according to preset logical rules: Successful transfer judgment: if there is a protrusion within the second placement hole of the target that conforms to the size and height characteristics of the cryopreservation tube 40, and its top orientation (tilt angle) is within the tolerance range (e.g., <5°), the system determines that the transfer is successful. Failed transfer judgment: if the above successful transfer judgment is not met, it is judged as a failure.

[0042] Because the 3D camera 200 can identify the condition of the cryopreservation tubes 40 in the first cryopreservation box 20 and the second cryopreservation box 30, it can assist in verifying the tube picking results. Specifically, this can be done manually by identifying the images, or by using automated algorithms, such as the technical solution disclosed in patent application number 2020112810984. The 3D camera 200 is configured to more accurately determine whether there are cryopreservation tubes 40 inside the placement holes.

[0043] Understandably, the 3D camera 200 can also scan and preprocess the cryopreservation box, so that before the transfer mechanism grasps it, the 3D camera 200 scans the cryopreservation box first, providing key visual guidance for the grasping operation of the transfer mechanism. The 3D camera 200 can also monitor the cryopreservation box and cryopreservation tube 40 in real time, and can also detect the occupancy of the placement holes of the cryopreservation box.

[0044] Understandably, the biological sample placement device 10 may also include a transfer mechanism, which may include the aforementioned transfer box mechanism and / or tube transfer mechanism. The transfer mechanism is movably disposed above the tray 100. The first placement position 110 and the second placement position 120 may include placement slots, placement planes, etc. The first cryopreservation box 20 and the second cryopreservation box 30 may be the same cryopreservation box or different cryopreservation boxes.

[0045] In some embodiments, when the 3D camera 200 is in a first position state, the 3D camera 200 coincides with the projection portion of the first cryopreservation box 20 on the horizontal plane. In other embodiments, when the 3D camera 200 is in the first position state, the 3D camera 200 coincides with the projection portion of the second cryopreservation box 30 on the horizontal plane. In still other embodiments, when the 3D camera 200 is in the first position state, the 3D camera 200 coincides with the projection portion of the first cryopreservation box 20 on the horizontal plane, and the 3D camera 200 coincides with the projection portion of the second cryopreservation box 30 on the horizontal plane.

[0046] Understandably, the 3D camera 200 includes a downward-facing lens, which can have a vertical optical axis or a vertical component (i.e., non-horizontal) optical axis.

[0047] The biological sample placement device 10 may further include a main plate 300 and a connecting plate 400. The main plate 300 has a main hole 310, and the tray 100 coincides with the projected portion of the main hole 310 on the horizontal plane. The upper end of the connecting plate 400 is connected to the main plate 300, and the lower end of the connecting plate 400 is connected to the tray 100. Furthermore, when the 3D camera 200 is in the first position, the projected portion of the 3D camera 200 coincides with the projected portion of the main hole 310 on the horizontal plane.

[0048] The design of the main body aperture 310 ensures that the 3D camera 200 can scan vertically downwards to the cryopreservation box during shooting, avoiding obstruction of the lens by structural components. The main body plate 300 can also play a role in preventing cold energy from being transferred upwards.

[0049] Specifically, the projection of the tray 100 onto the horizontal plane can be located within the projection of the main body hole 310 onto the horizontal plane. When the 3D camera 200 is in its first position, the projection of the 3D camera 200 onto the horizontal plane can also be located within the projection of the main body hole 310 onto the horizontal plane. The upper end of the connecting plate 400 can be bolted to the main body plate 300, and the lower end of the connecting plate 400 can be bolted to the tray 100. In other embodiments, it can also be connected by rivets or other methods.

[0050] In some embodiments, the area of ​​the main aperture 310 in the horizontal plane is greater than the sum of the areas of the first cryopreservation box 20 and the second cryopreservation box 30 in the horizontal plane. This further ensures the field of view of the 3D camera 200 during shooting.

[0051] In some embodiments, the biological sample placement device 10 further includes a first drive motor 510, a first lead screw 520, and a first lead screw nut 530. The first drive motor 510 is fixed to the main body plate 300. The first lead screw 520 is connected to the output shaft of the first drive motor 510 and extends along a first direction. The first lead screw nut 530 is slidably mounted on the first lead screw 520 and is connected to the 3D camera 200. The first drive motor 510 drives the first lead screw 520 to rotate, and the rotation of the first lead screw 520 causes the first lead screw nut 530 to slide on the first lead screw 520.

[0052] Specifically, the first drive motor 510 can be fixed to the main body plate 300 by various methods such as bolts, rivets, adhesives, and welding. The first lead screw 520 and the output shaft of the first drive motor 510 can be connected by a coupling, so that the rotation of the output shaft of the first drive motor 510 can be transmitted to the first lead screw 520. The first direction can be horizontal, such as the front-to-back direction. The first lead screw 520 has an external thread, and the first lead screw nut 530 has an internal thread that matches the external thread. The first lead screw nut 530 is slidably mounted on the first lead screw 520 through the internal and external threads.

[0053] The lead screw and nut transmission method has the advantages of good self-locking, high positioning accuracy, and strong load-bearing capacity, which ensures that the camera is stable enough when moving and stationary, and will not shake, thereby ensuring the quality of image acquisition.

[0054] In some embodiments, the biological sample placement device 10 further includes a first mounting plate 610, a second drive motor 620, a second lead screw 630, a second lead screw nut 640, and a second mounting plate 650. The first mounting plate 610 is fixedly connected to the first lead screw nut 630. The second drive motor 620 is fixed to the first mounting plate 610. The second lead screw 630 is connected to the output shaft of the second drive motor 620 and extends along a second direction. The second lead screw nut 640 is slidably mounted on the second lead screw 630. A portion of the second mounting plate 650 is fixedly connected to the second lead screw nut 640, and another portion of the second mounting plate 650 is fixedly connected to the 3D camera 200. The second drive motor 620 drives the second lead screw 630 to rotate, and the rotation of the second lead screw 630 causes the second lead screw nut 640 to slide on the second lead screw 630.

[0055] The first mounting plate 610 can be fixedly connected to the first lead screw nut 530 by various methods such as bolts, rivets, adhesives, and welding. The second drive motor 620 can be fixed to the first mounting plate 610 by various methods such as bolts, rivets, adhesives, and welding. The second lead screw 630 and the output shaft of the second drive motor 620 can be connected by a coupling, so that the rotation of the output shaft of the second drive motor 620 can be transmitted to the second lead screw 630. The second direction can be horizontal, such as the left-right direction. The second lead screw 630 has external threads, and the second lead screw nut 640 has internal threads that match the external threads. The second lead screw nut 640 is slidably mounted to the second lead screw 630 through the internal and external threads. A part of the second mounting plate 650 can be fixedly connected to the second lead screw nut 640 by various methods such as bolts, rivets, adhesives, and welding, and another part of the second mounting plate 650 can be fixedly connected to the 3D camera 200 by various methods such as bolts, rivets, adhesives, and welding.

[0056] The lead screw and nut transmission method has the advantages of good self-locking, high positioning accuracy, and strong load-bearing capacity, which ensures that the camera is stable enough when moving and stationary, and will not shake, thereby ensuring the quality of image acquisition.

[0057] Understandably, the transfer mechanism can be fixed to the second mounting plate 650. For example, the transfer mechanism can be fixed to the second mounting plate 650 by various means such as bolts, rivets, adhesives, welding, etc.

[0058] In some embodiments, the transfer mechanism is movably positioned above the tray 100 along a first horizontal direction and a second horizontal direction, which are perpendicular to each other. The tube transfer mechanism is movable in a vertical direction. The movement of the transfer mechanism allows it to pick up and place cryopreservation tubes 40 at different locations. The vertical movement of the tube transfer mechanism enables the picking up, placing, and moving of the cryopreservation tubes 40. How the transfer mechanism achieves horizontal movement is readily apparent to those skilled in the art and will not be elaborated here. For example, the extension and retraction of the telescopic rod of the first cylinder drives the transfer mechanism to move along the first horizontal direction, and the extension and retraction of the telescopic rod of the second cylinder drives the transfer mechanism to move along the second horizontal direction. In other embodiments, this can be achieved using a motor.

[0059] In some embodiments, the 3D camera 200 is positioned above the transfer mechanism. Therefore, when the 3D camera 200 is performing recognition, the transfer mechanism can be moved aside first, preventing the transfer mechanism from entering the field of view.

[0060] In some embodiments, the 3D camera 200 is horizontally movable above the transfer mechanism. Thus, the 3D camera 200 can photograph the first cryopreservation box 20 and the second cryopreservation box 30 separately by moving horizontally. Understandably, to improve space utilization, the transfer mechanism may not have a large horizontal movement space. In this case, the movement of the transfer mechanism is insufficient for the 3D camera 200 to simultaneously photograph the first cryopreservation box 20 and the second cryopreservation box 30, and the aforementioned method of separate photography can be used.

[0061] In some embodiments, the 3D camera 200 and the transfer mechanism are at the same height in the vertical direction. Therefore, the transfer mechanism does not affect the recognition capabilities of the 3D camera 200. In some embodiments, the transfer mechanism is mounted on one lateral side of the second mounting plate 650, and the 3D camera 200 is mounted on the other lateral side of the second mounting plate 650.

[0062] In some embodiments, the biological sample placement device 10 further includes a door 700, which includes a door shell defining a cavity. An insulating material is disposed within the cavity. The door 700 is used to open and close the main body opening 310. The door 700 prevents the activity of the biological sample from being affected when the 3D camera 200 is not in operation. Specifically, the door shell can be made of metal, and the insulating material can be foam, etc.

[0063] In some embodiments, the biological sample placement device 10 further includes a cavity 800 defining a receiving cavity having a top opening, and a tray 100 fixed within the receiving cavity. Specifically, the cavity 800 may include a box, storage container, cabinet, tank, etc. The cavity 800 can provide storage space for cryopreservation boxes. Understandably, the 3D camera 200 may be disposed outside the receiving cavity. The main body plate 300 may partially close the cavity opening.

[0064] In some embodiments, the biological sample placement device 10 further includes a cooling generator disposed within the receiving cavity or installed in the cavity 800, which provides cooling to the receiving cavity. This prevents damage to the biological sample. Specifically, the cooling generator may include a compression refrigeration system, a semiconductor refrigeration system, a liquid nitrogen refrigeration system, a Stirling refrigeration system, etc.

[0065] In some embodiments, the biological sample placement device 10 further includes a fixing member, a portion of which is fixedly connected to the tray 100, and the other portion of which is used to fixally connect to the 3D camera 200. The fixing member can specifically be a fixing rod, a fixing frame, etc. A portion of the fixing member can be fixedly connected to the tray 100 (directly or indirectly) by various methods such as bolts, rivets, adhesives, and welding, while the other portion of the fixing member can be fixedly connected to the 3D camera 200 (directly or indirectly) by various methods such as bolts, rivets, adhesives, and welding. Therefore, the overall structure is simple.

[0066] In some embodiments, the first placement position 110 and the second placement position 120 are both recesses in the tray 100, and the biological sample placement device 10 further includes a partition plate 900, which is fixed to the tray 100 and located between the first placement position 110 and the second placement position. The partition plate 900 can be fixed to the tray 100 by various means such as bolts, rivets, adhesives, and welding. The partition plate 900 can limit the movement of the first cryopreservation box 20 and the second cryopreservation box 30.

[0067] Regarding the embodiments of this application, it should also be noted that, without conflict, the embodiments of this application and the features in the embodiments can be combined with each other to obtain new embodiments.

[0068] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A biological sample placement device, characterized in that, include: A tray defining a first placement position and a second placement position with an upper opening, the first placement position for placing a first cryopreservation box, the second placement position for placing a second cryopreservation box, the first cryopreservation box defining a plurality of first placement holes for placing cryopreservation tubes, and the second cryopreservation box defining a plurality of second placement holes for placing cryopreservation tubes, both the first and second placement holes having a top opening; and A 3D camera, which is fixed above the tray or movably disposed above the tray, has a first position state in which at least one of the first cryopreservation box and the second cryopreservation box is within the field of view of the 3D camera, and the 3D camera includes a downward-facing lens.

2. The biological sample placement device according to claim 1, characterized in that, Also includes: The main body plate has a main body hole, and the tray coincides with the projection of the main body hole on the horizontal plane; A connecting plate, the upper end of which is connected to the main body plate, and the lower end of which is connected to the tray; and When the 3D camera is in the first position, the projection of the 3D camera onto the horizontal plane coincides with the projection of the main aperture.

3. The biological sample placement device according to claim 2, characterized in that, The area of ​​the main hole in the horizontal plane is greater than the sum of the areas of the first cryopreservation box and the second cryopreservation box in the horizontal plane.

4. The biological sample placement device according to claim 2, characterized in that, Also includes: A first drive motor is fixed to the main body plate; A first lead screw is connected to the output shaft of the first drive motor, and the first lead screw extends along a first direction; A first lead screw nut, slidably mounted on a first lead screw, is connected to the 3D camera; and The first drive motor is used to drive the first lead screw to rotate, and the rotation of the first lead screw enables the first lead screw nut to slide on the first lead screw.

5. The biological sample placement device according to claim 4, characterized in that, Also includes: First mounting plate, the first mounting plate is fixedly connected to the first lead screw nut; The second drive motor is fixed to the first mounting plate; The second lead screw is connected to the output shaft of the second drive motor and extends along the second direction; The second lead screw nut is slidably mounted on the second lead screw; A second mounting plate, a portion of which is fixedly connected to the second lead screw nut, and the other portion of which is fixedly connected to the 3D camera; and The second drive motor is used to drive the second lead screw to rotate, and the rotation of the second lead screw enables the second lead screw nut to slide on the second lead screw.

6. The biological sample placement device according to claim 2, characterized in that, Also includes: The door body includes a door shell, which defines a cavity. The cavity is provided with thermal insulation material, and the door body is used to open and close the main opening.

7. The biological sample placement device according to claim 1, characterized in that, Also includes: A cavity defining a receiving cavity having a top opening, the tray being fixed within the receiving cavity.

8. The biological sample placement device according to claim 7, characterized in that, Also includes: A cooling element is disposed within the receiving cavity or installed in the cavity, and the cooling element is used to provide cooling to the receiving cavity.

9. The biological sample placement device according to claim 1, characterized in that, Also includes: A fastener, a portion of which is fixedly connected to the tray, and another portion of which is used to fixally connect to the 3D camera.

10. The biological sample placement device according to claim 1, characterized in that, Both the first placement position and the second placement position are recessed into the tray, and the biological sample placement device further includes a partition plate, which is fixed to the tray and located between the first placement position and the second placement position.

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