Sample box delivery automatic positioning mechanism and low-temperature sample storage device

Abstract

The utility model discloses a kind of sample box warehouse-out automatic positioning mechanism and low-temperature sample storage device, sample box warehouse-out automatic positioning mechanism includes in-and-out carrier plate, limiting component and rear push component, limiting component is located on the external part of in-and-out carrier plate, limiting component includes the first limiting piece and second limiting piece spaced apart in second direction, two limiting pieces are located on the two sides of limiting space on in-and-out carrier plate, the output end of the power component of rear push component is connected with push piece transmission and is used to drive push piece and move in first direction, to sample box is pushed to limiting space from cryopreservation frame by drive, under the cooperation of limiting component and rear push component, the position accuracy of sample box after warehouse-out from cryopreservation frame is high, it is helpful to reduce the failure rate of taking box after sample box warehouse-out.

Description

Technical Field

[0001] This utility model relates to the field of low-temperature sample storage technology, and in particular to an automatic positioning mechanism for sample box retrieval and a low-temperature sample storage device. Background Technology

[0002] Cryopreservation racks are key equipment in the low-temperature storage of biological samples. They are mainly used to store sample boxes in an orderly manner. Sample boxes are the direct carriers for storing biological samples, and orderly storage of sample boxes enables the classification, identification and management of samples.

[0003] In existing technologies, since both the sample box and the cryopreservation rack are rigid structures, the sample box is pushed out of the cryopreservation rack in a hard-on-hard manner. In order for the sample box to be pushed out of the cryopreservation rack smoothly, gaps need to be reserved in all directions. However, reserving gaps in all directions will cause the position of the sample box to change each time it is taken out of the warehouse, which will eventually lead to a high error rate when the transfer robot used to transfer the sample box picks up the box. Utility Model Content

[0004] The purpose of this invention is to provide an automatic positioning mechanism for sample box removal and a low-temperature sample storage device. The sample box has high positioning accuracy after being removed from the cryopreservation rack, which helps to reduce the error rate of retrieving the sample box after it is removed from the storage.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] An automatic positioning mechanism for sample box retrieval includes: an inlet / outlet carrier plate for guiding sample boxes from a cryopreservation rack out along a first direction, the inlet / outlet carrier plate including an external portion located outside the cryopreservation rack, the external portion having a limiting space; a limiting component disposed on the external portion, the limiting component including a first limiting member and a second limiting member spaced apart along a second direction, the first limiting member and the second limiting member being located on both sides of the limiting space; and a push component including a power component and a pusher, the output end of the power component being convexly connected to the pusher and used to drive the pusher to move in the first direction, so as to push the sample box from the cryopreservation rack into the limiting space.

[0007] Preferably, both the first limiting member and the second limiting member are elastic limiting members, and the elastic coefficient of the first limiting member is smaller than that of the second limiting member, so that the sample box entering the limiting space always abuts against one side of the first limiting member.

[0008] Preferably, the pusher includes a frame structure, a first pusher and a second pusher, both of which are disposed within the frame structure and spaced apart in the first direction, forming a push box space between the first pusher and the second pusher.

[0009] Preferably, the pusher is movable to an inbound position and an outbound position in the first direction, the cryogenic rack is vertically oriented and passes through the push box space located at the inbound position, and the push box space located at the outbound position is vertically aligned with the limiting space; and / or, the power component includes a drive motor, a drive gear and a rack, the motor shaft of the drive motor is connected to the drive gear, the rack is mounted on the frame structure and extends along the first direction, and the drive gear and the rack mesh.

[0010] Preferably, the first pushing member includes a mounting bracket, a first push plate, a first push rod, a first linear bearing, and a first spring. The mounting bracket is installed within the frame structure, the first linear bearing is mounted on the mounting bracket, the first push rod extends along the first direction, one end of the first push rod is connected to the first push plate, and the other end slides through the first linear bearing. The first spring is sleeved on the first push rod, one end of the first spring abuts against the first push plate, and the other end abuts against the mounting bracket. The first push plate is used to push the rear side of the sample box; and / or, multiple first pushing members are provided, and the multiple first pushing members are spaced apart in the second direction and can simultaneously push the rear side of the sample box.

[0011] Preferably, the second pushing member includes a second push plate and a second push rod, the second push rod extending along the first direction, one end of the second push rod being connected to the second push plate, and the other end being connected to the frame structure; and / or, multiple second pushing members are provided, the multiple second pushing members are spaced apart in the second direction, and can simultaneously push the front side of the sample box.

[0012] Preferably, the frame structure includes a first rod, a second rod, and a third rod connected in a U-shape, with the first pusher mounted on the inner side of the first rod and the second pusher mounted on the inner side of the third rod.

[0013] Preferably, the inlet / outlet carrier plate further includes an inner part, the inner part having a through-hole for the cryopreservation rack to move up and down; and / or, the outer part has two limiting members, each of the limiting members including a first limiting part and a second limiting part connected in an L-shape, the two first limiting parts being spaced apart in the second direction and forming an opening, the second limiting part being located on the side of the first limiting part away from the opening, and the limiting space being formed between the two limiting members.

[0014] Preferably, both the first and second limiting members include a fixed plate, a telescopic rod, a limiting block, a second linear bearing, and a second spring. The fixed plate is fixed to the external part, the second linear bearing is mounted on the fixed plate, the telescopic rod extends along the second direction, one end of the telescopic rod is fixed to the limiting block, and the other end passes through the second linear bearing. The second spring is sleeved on the telescopic rod, one end of the second spring abuts against the limiting block, and the other end abuts against the fixed plate. The limiting block is used to limit abutment against the left or right side of the sample box. The elastic coefficient of the second spring in the first limiting member is smaller than that of the second spring in the second limiting member.

[0015] A low-temperature sample storage device includes a vertical frame, a lifting mechanism, a cryopreservation rack, and the aforementioned automatic positioning mechanism for sample box retrieval. The vertical frame forms a lifting space, the cryopreservation rack is vertically and flexibly installed within the lifting space, the lifting mechanism provides power for the lifting and lowering of the cryopreservation rack, and the inlet / outlet carrier plate is installed on the vertical frame.

[0016] The beneficial effects of this utility model are:

[0017] The automatic positioning mechanism for sample box retrieval provided by this utility model includes an inlet / outlet carrier plate, a limiting component, and a pushing component. The inlet / outlet carrier plate includes an external portion disposed outside the cryopreservation rack, and a limiting space is provided on the external portion. The limiting component is disposed on the external portion and includes a first limiting member and a second limiting member spaced apart in a second direction. The first and second limiting members are located on both sides of the limiting space. The pushing component includes a power component and a pushing member. The output end of the power component is convexly connected to the pushing member and is used to drive the pushing member to move in the first direction, so as to push the sample box from outside the cryopreservation rack into the limiting space. With the cooperation of the limiting component and the pushing component, the positional accuracy of the sample box after it is retrieved from the cryopreservation rack is high, which helps to reduce the error rate of retrieving the sample box after it is retrieved. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the low-temperature sample storage device provided by this utility model;

[0019] Figure 2This is a schematic diagram of the automatic positioning mechanism for sample box outbound provided by this utility model;

[0020] Figure 3 This is a top view of the automatic positioning mechanism for sample box outbound provided by this utility model;

[0021] Figure 4 This is a schematic diagram of the inlet / outlet carrier plate provided by this utility model;

[0022] Figure 5 This is a schematic diagram of the push-back component provided by this utility model;

[0023] Figure 6 This is a schematic diagram of the inlet / outlet carrier plate and the limiting component provided by this utility model;

[0024] Figure 7 This is a schematic diagram of the first pushing member provided by this utility model;

[0025] Figure 8 This is a schematic diagram of the automatic positioning mechanism for sample box outbound, the sample box, and the cryopreservation rack provided by this utility model;

[0026] Figure 9 yes Figure 8 The diagram shows the structure from another perspective.

[0027] In the picture:

[0028] 10. Automatic positioning mechanism for sample box outbound; 20. Sample box; 30. Cryopreservation rack; 31. Shelf; 40. Vertical frame; 50. Lifting mechanism; 60. Wheat straw;

[0029] 100. Carrier plate; 110. External part; 111. Limiting space; 120. Internal part; 121. Clearance hole; 130. Guide slope; 140. Limiting component; 141. First limiting part; 142. Second limiting part;

[0030] 200. Limiting assembly; 210. First limiting component; 220. Second limiting component; 201. Fixing plate; 202. Telescopic rod; 203. Limiting block; 204. Second linear bearing; 205. Second spring;

[0031] 300. Rear push assembly; 310. Power component; 311. Drive motor; 312. Drive gear; 313. Rack; 314. Reducer; 320. Pushing component; 321. Frame structure; 3211. First rod; 3212. Second rod; 3213. Third rod; 322. First pusher; 3221. Mounting bracket; 3222. First push plate; 3223. First push rod; 3224. First linear bearing; 3225. First spring; 323. Second pusher; 3231. Second push plate; 3232. Second push rod; 301. Push box space. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0033] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0036] like Figures 1 to 9 As shown, this utility model discloses an automatic sample box outbound positioning mechanism 10. This mechanism 10 is installed at the outbound position of the sample box 20 and can push the sample box 20, which has moved to the outbound position with the cryopreservation rack 30, out of the cryopreservation rack 30, thereby realizing the outbound movement of the sample box 20 along a first direction, such as... Figure 1 As shown in direction a. After being taken out of the warehouse, the sample box 20 can be transferred away by a transfer robot to facilitate further processing of the samples in the sample box 20. It should be noted that in the embodiments of this application, the sample box 20 is cubic in shape, and the sample box 20 has multiple tube holes arranged in rows and columns. Each tube hole can be fitted with a tubular component containing a biological sample, such as a wheat straw 60. Of course, in other embodiments, the structure and shape of the sample box 20 can also be adapted to meet the requirements.

[0037] like Figure 2 and Figure 3 As shown, the automatic positioning mechanism 10 for sample box retrieval includes an inlet / outlet carrier plate 100, a limiting component 200, and a pushing component 300. The inlet / outlet carrier plate 100 is used to receive sample boxes 20 pushed out of the cryopreservation rack 30, so that the sample boxes 20 can be stably stored outside the cryopreservation rack 30. Specifically, the inlet / outlet carrier plate 100 includes an external portion 110 disposed outside the cryopreservation rack 30, and a limiting space 111 is provided on the external portion 110. The limiting component 200 is used to limit the sample boxes 20 entering the limiting space 111, so that the final storage position of the sample boxes 20 pushed onto the external portion 110 (defined as the position to be retrieved) always remains unchanged. Specifically, the limiting component 200 is disposed on the external portion 110, and the limiting component 200 includes a first limiting member 210 and a second limiting member 220 spaced apart in a second direction, as shown in the second direction. Figure 1 As shown in direction b, the first limiting member 210 and the second limiting member 220 are located on both sides of the limiting space 111. The push assembly 300 is used to push the sample box 20 from outside the cryopreservation rack 30 into the limiting space 111. Specifically, the push assembly 300 includes a power component 310 and a pusher 320. The output end of the power component 310 is connected to the pusher 320 and is used to drive the pusher 320 to move in the first direction to push the sample box 20 from outside the cryopreservation rack 30 into the limiting space 111.

[0038] Driven by an externally mounted lifting mechanism 50, the cryopreservation rack 30 can move vertically up and down, enabling it to enter and exit the cryopreservation chamber. Multiple sample boxes 20, spaced vertically within the cryopreservation rack 30, rise synchronously with it, allowing the target sample box 20 to be lifted from inside the cryopreservation chamber to a target height (i.e., the exit position) outside the chamber. Once the target sample box 20 is lifted to the exit position, the push-back component 300 actuates, pushing the target sample box 20 out of the exit position. This moves the target sample box 20 from the exit position onto the external portion 110 of the in / out carrier plate 100, gradually allowing it to enter the limiting space 111. The automatic positioning mechanism 10 for sample box retrieval provided by this utility model, with the cooperation of the limiting component 200 and the pushing component 300, ensures that the position of the target sample box 20 remains basically unchanged after it is pushed out of the cryopreservation rack 30, so that the position accuracy of the target sample box 20 after retrieval is high, which helps to reduce the error rate of retrieving the sample box 20 after retrieval.

[0039] In some embodiments, both the first limiting member 210 and the second limiting member 220 are elastic limiting members, and the elastic coefficient of the first limiting member 210 is smaller than that of the second limiting member 220, so that the sample box 20 entering the limiting space 111 always abuts against one side of the first limiting member 210. This arrangement ensures that the target sample box 20 within the limiting space 111 always abuts against the side of the first limiting member 210 with the smaller elastic coefficient under the limiting action of the limiting component 200, which helps to further improve the positional accuracy of the target sample box 20 after it leaves the warehouse, thereby further reducing the error rate of retrieving the sample box 20 after it leaves the warehouse. Furthermore, this arrangement also reduces the size requirements of the limiting space 111, allowing the limiting space 111 to be made slightly larger, making it easier for the target sample box 20 to enter the limiting space 111.

[0040] like Figure 4 As shown, the inlet / outlet carrier plate 100 is a horizontally arranged plate structure. The inlet / outlet carrier plate 100 is fixed at the outlet of the freezing chamber, allowing the cryopreservation rack 30 to be positioned close to the inlet / outlet carrier plate 100 after being removed from the freezing chamber. This enables the target sample box 20 to be smoothly transferred to the external portion 110 of the inlet / outlet carrier plate 100 through lateral movement. Alternatively, in other embodiments, the external portion 110 can also be disposed on the cryopreservation rack 30 and move with it. Each sample box 20 within the cryopreservation rack 30 may have an external portion 110.

[0041] In some embodiments, the in / out carrier plate 100 includes an external portion 110 and an internal portion 120 located at the exit position. The internal portion 120 has a through-hole 121 for the cryogenic rack 30 to pass through during lifting and lowering. The through-hole 121 communicates with the outlet of the freezer compartment, and the opening size of the through-hole 121 is larger than the maximum cross-sectional dimension of the cryogenic rack 30, allowing the cryogenic rack 30 to smoothly enter and exit the freezer compartment through the through-hole 121. The internal portion 120 can be used to fix the in / out carrier plate 100 to the outlet of the freezer compartment, and the connection method includes, but is not limited to, screw connection, snap-fit ​​connection, welding, etc.

[0042] In some embodiments, the inlet / outlet carrier plate 100 is a rectangular plate structure, and the clearance hole 121 is a generally rectangular through hole. In some embodiments, a guide slope 130 is formed at the boundary between the inner part 120 and the outer part 110, so that the sample box 20 passing through the clearance hole 121 vertically can smoothly enter the outer part 110 by passing through the guide slope 130 laterally.

[0043] like Figure 5 As shown, the power unit 310 includes a drive motor 311, a drive gear 312, and a rack 313. The motor shaft of the drive motor 311 is connected to the drive gear 312. The rack 313 is mounted on the pusher 320 and extends along a first direction. The drive gear 312 and the rack 313 mesh. Driven by the drive motor 311, the drive gear 312 rotates around its central axis. Since the drive gear 312 meshes with the rack 313, as the drive gear 312 rotates, the rack 313 moves along the first direction, allowing the pusher 320 to move in the first direction to push the sample box 20 out of the storage position. Of course, under the reverse drive of the drive motor 311, the sample box 20 can also move in the opposite direction of the first direction to push the sample box 20 that needs to be stored into the storage position.

[0044] In some embodiments, the power component 310 further includes a reducer 314, the motor shaft of the drive motor 311 is connected to the input shaft of the reducer 314, and the output shaft of the reducer 314 is connected to the drive gear 312.

[0045] Of course, in other embodiments, the power component 310 may also be a combination of a motor and a synchronous belt mechanism, or a combination of a motor and a lead screw and nut mechanism, which will not be described in detail here.

[0046] Continue to refer to Figure 5As shown, in some embodiments, the pusher 320 includes a frame structure 321, a first pusher 322, and a second pusher 323. Both the first pusher 322 and the second pusher 323 are disposed within the frame structure 321 and spaced apart in a first direction, forming a push box space 301 between them. The output of the power component 310 is connected to the frame structure 321 to drive the pusher 320. Specifically, the rack 313 can be fixed to the frame structure 321, allowing the frame structure 321 and the first pusher 322 and the second pusher 323 disposed on the frame structure 321 to move synchronously along the first direction with the rack 313.

[0047] Driven by the power component 310, the pusher 320 can move to the inlet position and the outlet position in the first direction. The inlet position is the position where the push box space 301 and the clearance hole 121 are directly opposite each other in the vertical direction. After the pusher 320 moves to the inlet position, the sample box 20 passes through the clearance hole 121 vertically and directly enters the push box space 301. At this time, the pusher 320 can push the sample box 20 by moving laterally. The outlet position is the position where the push box space 301 and the limiting space 111 are directly opposite each other in the vertical direction. At this time, the sample box 20 enters the limiting space 111 and finally reaches the waiting position for retrieval.

[0048] In some embodiments, the frame structure 321 includes a first rod 3211, a second rod 3212, and a third rod 3213 connected in a U-shape. The first rod 3211 and the third rod 3213 are spaced apart in a first direction. The second rod 3212 extends along the first direction and connects between the first rod 3211 and the third rod 3213. A first pusher 322 is installed on the inner side of the first rod 3211, and a second pusher 323 is installed on the inner side of the third rod 3213. Of course, in other embodiments, the frame structure 321 may also be a closed rectangular frame.

[0049] In the first direction, the first pusher 322 is located behind the second pusher 323. The first pusher 322 mainly plays a pushing role in pushing the sample box 20 from the outlet position to the limiting space 111. (Continue referring to...) Figure 5As shown, in some embodiments, the first pushing member 322 includes a mounting bracket 3221, a first push plate 3222, a first push rod 3223, a first linear bearing 3224, and a first spring 3225. The mounting bracket 3221 is installed inside the frame structure 321. The first linear bearing 3224 is mounted on the mounting bracket 3221. The first push rod 3223 extends along a first direction. One end of the first push rod 3223 is connected to the first push plate 3222, and the other end slides through the first linear bearing 3224. The first spring 3225 is sleeved on the first push rod 3223. One end of the first spring 3225 abuts against the first push plate 3222, and the other end abuts against the mounting bracket 3221. The first push plate 3222 is used to push the rear side of the sample box 20. This arrangement not only enables the pushing of the sample box 20 but also prevents damage to the sample box 20, the drive gear 312, and the rack 313. In detail, when the sample box 20 has been pushed to the front end of the limiting space 111, i.e., it has been limited and cannot move further, if the drive gear 312 moves excessively on the rack 313, due to the presence of the first spring 3225, the pusher 320 can continue to move forward and compress the first spring 3225. This allows the rack 313 to continue moving forward without meshing interference, thus avoiding severe wear between the drive gear 312 and the rack 313. In other words, since the torque of the drive motor 311 is much greater than the elastic force of the first spring 3225, even if the drive motor 311 moves, the reaction force between the drive gear 312 and the rack 313 is only the elastic force of the first spring 3225 and the friction between the sample box 20 and the inlet / outlet carrier plate 100, which is not very large and can protect the sample box 20, the drive gear 312, and the rack 313.

[0050] Optionally, the mounting bracket 3221 is cubic in shape, with its rear end fixed to the front wall of the first rod 3211. A mounting cavity is formed at the front end of the mounting bracket 3221, which is optionally a rectangular through hole. A front mounting plate is formed on the front side of the mounting cavity of the mounting bracket 3221, with a first mounting hole extending through the front mounting plate in a first direction. The first linear bearing 3224 is located inside the mounting cavity and mounted on the rear side of the front mounting plate. Optionally, the first push rod 3223 is a cylindrical rod with a first rod hole on the first push plate 3222. The front end of the first push rod 3223 is inserted into the first rod hole, and the rear end of the first push rod 3223 passes through the first mounting hole and is slidably inserted into the first linear bearing 3224.

[0051] Optionally, two of each of the first push rod 3223, the first linear bearing 3224, and the first spring 3225 are provided. The two first linear bearings 3224 are spaced apart in the second direction, the two first push rods 3223 are spaced apart in the second direction, and the two first springs 3225 are correspondingly sleeved on the two first push rods 3223. Correspondingly, the front mounting plate is provided with two first mounting holes, and the first push plate 3222 is provided with two first rod holes. One first mounting hole and one first rod hole form a group, and the two first push rods 3223 are correspondingly inserted into the two groups of first mounting holes and first rod holes.

[0052] Of course, in other embodiments, the number of the first push rod 3223, the first linear bearing 3224, and the first spring 3225 can also be set to three or more as needed. Correspondingly, the number of first mounting holes provided on the front mounting plate and the number of first rod holes provided on the first push plate 3222 can also be adaptively increased.

[0053] Optionally, multiple first pushers 322 are provided, and the multiple first pushers 322 are spaced apart in the second direction, and can simultaneously push the rear side of the sample box 20. In one specific embodiment, two first pushers 322 are provided.

[0054] The second pushing member 323 mainly plays a pushing role in pushing the sample box 20 from the limiting space 111 to the exit position, and can also limit the sample box 20 pushed from the exit position to the limiting space 111 to prevent the sample box 20 from being accidentally pushed out of the outer part 110 of the inlet / outlet carrier plate 100. In some embodiments, the second pushing member 323 includes a second push plate 3231 and a second push rod 3232. The second push rod 3232 extends along a first direction, with one end connected to the second push plate 3231 and the other end connected to the frame structure 321. Specifically, a second rod hole is provided on the second push plate 3231, and a second mounting hole is provided on the third rod 3213. One end of the second push rod 3232 is fixed in the second rod hole, and the other end is fixed in the second mounting hole.

[0055] Optionally, two second push rods 3232 are provided, and the two first push rods 3223 are spaced apart in the second direction. Correspondingly, the third rod 3213 is provided with two second mounting holes, and the second push plate 3231 is provided with two second rod holes. One second mounting hole and one second rod hole form a group, and the two second push rods 3232 are inserted into the two groups of second mounting holes and second rod holes in a one-to-one correspondence. Of course, in other embodiments, the number of second push rods 3232 can be set to three or more as needed. Correspondingly, the number of second mounting holes on the third rod 3213 and the number of second rod holes on the second push plate 3231 can also be adaptively increased.

[0056] Optionally, multiple second pushers 323 are provided, and the multiple second pushers 323 are spaced apart in the second direction, and can simultaneously push the front side of the sample box 20. In one specific embodiment, two second pushers 323 are provided.

[0057] like Figure 6 As shown, in order to form the limiting space 111, in some embodiments, the external part 110 is provided with two limiting members 140. Each limiting member 140 includes a first limiting part 141 and a second limiting part 142 connected in an L-shape. The two first limiting parts 141 are spaced apart in a second direction and form an opening on the side near the internal part 120. The second limiting part 142 is located on the side of the first limiting part 141 away from the opening, and the limiting space 111 is formed between the two limiting members 140. Of course, in other embodiments, the external part 110 may also be provided with a U-shaped limiting rod; or, a U-shaped limiting groove may be formed on the external part 110 to form the limiting space 111. It should be noted that the shape of the limiting space 111 matches the shape of the sample box 20, and its size is slightly larger, so that the sample box 20 can smoothly enter the limiting space 111.

[0058] In some embodiments, such as Figure 7 As shown, the first limiting member 210 includes a fixed plate 201, a telescopic rod 202, a limiting block 203, a second linear bearing 204, and a second spring 205. The fixed plate 201 is fixed on the external part 110, the second linear bearing 204 is installed on the fixed plate 201, the telescopic rod 202 extends along the second direction, one end of the telescopic rod 202 is fixed on the limiting block 203, and the other end passes through the second linear bearing 204. The second spring 205 is sleeved on the telescopic rod 202, one end of the second spring 205 abuts against the limiting block 203, and the other end abuts against the fixed plate 201. The limiting block 203 is used to limit abutment against the left or right side of the sample box 20.

[0059] The second limiting member 220 has the same structure as the first limiting member 210. That is, the second limiting member 220 also includes a fixing plate 201, a telescopic rod 202, a limiting block 203, a second linear bearing 204, and a second spring 205. The fixing plate 201 is fixed to the external part 110, the second linear bearing 204 is mounted on the fixing plate 201, the telescopic rod 202 extends along the second direction, one end of the telescopic rod 202 is fixed to the limiting block 203, and the other end passes through the second linear bearing 204. The second spring 205 is sleeved on the telescopic rod 202, one end of the second spring 205 abuts against the limiting block 203, and the other end abuts against the fixing plate 201. The limiting block 203 is used for limiting abutment against the right or left side of the sample box 20. Furthermore, the elastic coefficient of the second spring 205 in the first limiting member 210 is less than that in the second limiting member 220.

[0060] For example, if the first limiting member 210 is located on the right side and the second limiting member 220 is located on the left side, then the second limiting member 220 located on the left side can provide greater elasticity to the sample box 20, so that the sample box 20 can be pushed to the rightmost side of the inlet / outlet carrier plate 100, and the right wall of the sample box 20 maintains abutment with the right wall of the limiting space 111, thereby ensuring that the sample box 20 is always in the same position within the limiting space 111.

[0061] This utility model also discloses a low-temperature sample storage device, such as... Figure 1 , Figure 8 and Figure 9 As shown, the low-temperature sample storage device includes a vertical frame 40, a lifting mechanism 50, a cryopreservation rack 30, and the aforementioned automatic sample box retrieval positioning mechanism 10. The vertical frame 40 forms a lifting space, within which the cryopreservation rack 30 is vertically and flexibly installed. The lifting mechanism 50 provides power for the lifting of the cryopreservation rack 30. An in / out carrier plate 100 is mounted on the vertical frame 40. By using the aforementioned automatic sample box retrieval positioning mechanism 10, the consistent position of the sample boxes 20 after retrieval can be ensured, which helps to improve the success rate of the transfer robot in grasping the sample boxes 20.

[0062] In some embodiments, the vertical frame 40 includes a top plate and three side plates, which surround to form a U-shaped frame with an upper opening, a lower opening and a front opening. The top plate is installed at the upper opening, the lower opening of the vertical frame 40 communicates with the freezer compartment, and the sample box 20 can be pushed out from the front opening of the vertical frame 40.

[0063] In some embodiments, the lifting mechanism 50 includes a lifting motor, a lead screw, and a nut block. The motor shaft of the lifting motor is connected to one end of the lead screw, and the nut block is threaded onto the lead screw. Driven by the lifting motor, the lead screw rotates around its own central axis, and the nut block moves up and down along the axial direction of the lead screw. The nut block is connected to the cryopreservation rack 30, thereby realizing the lifting and lowering of the cryopreservation rack 30.

[0064] In some embodiments, the cryopreservation rack 30 includes a plurality of shelf panels 31 spaced apart in the vertical direction, each shelf panel 31 capable of holding a sample box 20.

[0065] In some embodiments, the low-temperature sample storage device further includes a freezing chamber (not shown) for accommodating and freezing multiple cryopreservation racks 30 to achieve refrigeration of biological samples within the sample box 20.

[0066] The low-temperature sample storage device also includes a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control the drive motor 311, the lifting motor, etc., to achieve their respective functions.

[0067] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An automatic positioning mechanism for sample box retrieval, characterized in that, include: An inlet / outlet carrier plate (100) is used to guide the sample boxes in the cryopreservation rack (30) out of the storage rack in a first direction. The inlet / outlet carrier plate (100) includes an external part (110) located outside the cryopreservation rack (30), and the external part (110) is provided with a limiting space (111). A limiting component (200) is disposed on the external part (110). The limiting component (200) includes a first limiting member (210) and a second limiting member (220) spaced apart in a second direction. The first limiting member (210) and the second limiting member (220) are located on both sides of the limiting space (111). The push assembly (300) includes a power component (310) and a pusher (320). The output end of the power component (310) is connected to the pusher (320) and is used to drive the pusher (320) to move in the first direction to push the sample box (20) from the cryopreservation rack (30) into the limiting space (111).

2. The automatic positioning mechanism for sample box retrieval according to claim 1, characterized in that, Both the first limiting member (210) and the second limiting member (220) are elastic limiting members, and the elastic coefficient of the first limiting member (210) is smaller than that of the second limiting member (220), so that the sample box (20) entering the limiting space (111) always abuts against one side of the first limiting member (210).

3. The automatic positioning mechanism for sample box retrieval according to claim 1, characterized in that, The pusher (320) includes a frame structure (321), a first pusher (322) and a second pusher (323). The first pusher (322) and the second pusher (323) are both disposed within the frame structure (321) and are spaced apart in the first direction. A push box space (301) is formed between the first pusher (322) and the second pusher (323).

4. The automatic positioning mechanism for sample box retrieval according to claim 3, characterized in that, In the first direction, the pusher (320) can be moved to the storage position and the storage position. The cryogenic rack (30) can be lifted and inserted into the push box space (301) located in the storage position. The push box space (301) located in the storage position and the limiting space (111) are arranged opposite each other in the vertical direction. And / or, the power component (310) includes a drive motor (311), a drive gear (312) and a rack (313), the motor shaft of the drive motor (311) is connected to the drive gear (312) for transmission, the rack (313) is mounted on the frame structure (321) and extends along the first direction, and the drive gear (312) and the rack (313) mesh.

5. The automatic positioning mechanism for sample box retrieval according to claim 3, characterized in that, The first pusher (322) includes a mounting bracket (3221), a first push plate (3222), a first push rod (3223), a first linear bearing (3224), and a first spring (3225). The mounting bracket (3221) is installed inside the frame structure (321). The first linear bearing (3224) is installed on the mounting bracket (3221). The first push rod (3223) extends along the first direction. One end of the first push rod (3223) is connected to the first push plate (3222), and the other end slides through the first linear bearing (3224). The first spring (3225) is sleeved on the first push rod (3223). One end of the first spring (3225) abuts against the first push plate (3222), and the other end abuts against the mounting bracket (3221). The first push plate (3222) is used to push the rear side of the sample box (20). And / or, the first pusher (322) is provided in multiples, and the multiple first pushers (322) are spaced apart in the second direction and are capable of simultaneously pushing the rear side of the sample box (20).

6. The automatic positioning mechanism for sample box retrieval according to claim 3, characterized in that, The second pusher (323) includes a second push plate (3231) and a second push rod (3232). The second push rod (3232) extends along the first direction. One end of the second push rod (3232) is connected to the second push plate (3231), and the other end is connected to the frame structure (321). And / or, the second pusher (323) is provided in multiples, and the multiple second pushers (323) are spaced apart in the second direction and are capable of simultaneously pushing the front side of the sample box (20).

7. The automatic positioning mechanism for sample box retrieval according to claim 3, characterized in that, The frame structure (321) includes a first rod (3211), a second rod (3212), and a third rod (3213) connected in a U-shape. The first pusher (322) is installed on the inner side of the first rod (3211), and the second pusher (323) is installed on the inner side of the third rod (3213).

8. The automatic positioning mechanism for sample box retrieval according to claim 1, characterized in that, The inlet / outlet carrier plate (100) also includes an inner part (120), and the inner part (120) is provided with a clearance hole (121) for the cryopreservation rack (30) to move up and down. And / or, the external part (110) is provided with two limiting members (140), each of the limiting members (140) includes a first limiting part (141) and a second limiting part (142) connected in an L-shape, the two first limiting parts (141) are spaced apart in the second direction and form an opening, the second limiting part (142) is disposed on the side of the first limiting part (141) away from the opening, and the limiting space (111) is formed between the two limiting members (140).

9. The automatic positioning mechanism for sample box retrieval according to claim 2, characterized in that, Both the first limiting member (210) and the second limiting member (220) include a fixing plate (201), a telescopic rod (202), a limiting block (203), a second linear bearing (204), and a second spring (205). The fixing plate (201) is fixed on the external part (110). The second linear bearing (204) is installed on the fixing plate (201). The telescopic rod (202) extends along the second direction. One end of the telescopic rod (202) is fixed on the limiting block (203), and the other end passes through the second linear bearing (204). The second spring (205) is sleeved on the telescopic rod (202). One end of the second spring (205) abuts against the limiting block (203), and the other end abuts against the fixing plate (201). The limiting block (203) is used to limit abutment against the left or right side of the sample box (20). Wherein, the elastic coefficient of the second spring (205) of the first limiting member (210) is less than the elastic coefficient of the second spring (205) of the second limiting member (220).

10. A low-temperature sample storage device, characterized in that, The device includes a vertical frame (40), a lifting mechanism (50), a cryopreservation rack (30), and an automatic positioning mechanism for sample box retrieval as described in any one of claims 1-9. The vertical frame (40) forms a lifting space, the cryopreservation rack (30) is vertically and flexibly installed in the lifting space, the lifting mechanism (50) provides power for the lifting of the cryopreservation rack (30), and the inlet / outlet carrier plate (100) is installed on the vertical frame (40).

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